diff --git a/N012/stretch3/dr_off/seed_3045/check.json b/N012/stretch3/dr_off/seed_3045/check.json new file mode 100644 index 0000000000000000000000000000000000000000..7b2d35304741ae3aef14b83ed64b9f4ec6c7fd9d --- /dev/null +++ b/N012/stretch3/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 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": "2403 rows vs ceil(4805/2) = 2403" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 211..5015, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "62.27 MB, 2403 frames at 25 fps, mean luma 98..145, std 13, new picture 2402x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2403 vs 2403" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "56.05 MB, 2403 frames at 25 fps, mean luma 98..149, std 32, new picture 2402x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2403 vs 2403" + }, + "sim_info present": { + "pass": true, + "detail": "squeegee/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N012/stretch3/dr_off/seed_3045/check.txt b/N012/stretch3/dr_off/seed_3045/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..e4f821edafff9528784e133dd46a312191d007a9 --- /dev/null +++ b/N012/stretch3/dr_off/seed_3045/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n012_str_off_3045/out task=N012 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n012_str_off_3045/out/squeegee/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2403 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: 2403 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 2403 at dataset fps 25 = 96.12 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2403 rows vs ceil(4805/2) = 2403 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 211..5015, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 62.27 MB, 2403 frames at 25 fps, mean luma 98..145, std 13, new picture 2402x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2403 vs 2403 +[PASS] video observation.images.wrist decodes, 640x480, not black: 56.05 MB, 2403 frames at 25 fps, mean luma 98..149, std 32, new picture 2402x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2403 vs 2403 +parquet size 4.75 MB +[PASS] sim_info present: squeegee/000/sim_info +dataset size 123.37 MB; whole cell dir 127.5 MB +RESULT: ALL PASS diff --git a/N012/stretch3/dr_off/seed_3045/config.yaml b/N012/stretch3/dr_off/seed_3045/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ca55feb9289725cf1fc4c0158a41057033cac325 --- /dev/null +++ b/N012/stretch3/dr_off/seed_3045/config.yaml @@ -0,0 +1,699 @@ +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: + HelloRobot: + name: hellorobot + type: mobilemanip + common: + pos: + - - -3.1601028590351685 + - -1.722878094480288 + - 0.06 + - - -3.1601028590351685 + - -1.722878094480288 + - 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: + - 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: 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: 3045 + layout: + S: + - -3.1601028590351685 + - -1.722878094480288 + - -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: 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: 0.15 + 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_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/stretch3/dr_off/seed_3045/report.json b/N012/stretch3/dr_off/seed_3045/report.json new file mode 100644 index 0000000000000000000000000000000000000000..130989bea650bb7a1ce37a0bd8d4faf7d616386f --- /dev/null +++ b/N012/stretch3/dr_off/seed_3045/report.json @@ -0,0 +1,19491 @@ +{ + "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, + -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": 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{ + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown rack a0. 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_off/seed_3045/squeegee/000/lerobot_v21/meta/info.json b/N012/stretch3/dr_off/seed_3045/squeegee/000/lerobot_v21/meta/info.json new file mode 100644 index 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+} \ No newline at end of file diff --git a/N021/sawyer_umi/dr_off/seed_1053/check.json b/N021/sawyer_umi/dr_off/seed_1053/check.json new file mode 100644 index 0000000000000000000000000000000000000000..1c3b3b3681e222cc700defad312d11fe46476a05 --- /dev/null +++ b/N021/sawyer_umi/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 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 peg, carry it to the hole block, and insert the peg fully into the hole.'; expected 'Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1331 rows vs ceil(2662/2) = 1331" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..2691, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "13.28 MB, 1331 frames at 25 fps, mean luma 102..140, std 35, new picture 1330x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1331 vs 1331" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "22.71 MB, 1331 frames at 25 fps, mean luma 99..151, std 39, new picture 1330x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1331 vs 1331" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N021/sawyer_umi/dr_off/seed_1053/check.txt b/N021/sawyer_umi/dr_off/seed_1053/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..07db1bcb78d1d2f9b48a1ffb8589ed2bb79debba --- /dev/null +++ b/N021/sawyer_umi/dr_off/seed_1053/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n021_saw_off_1053/out task=N021 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n021_saw_off_1053/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1331 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: 1331 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 peg, carry it to the hole block, and insert the peg fully into the hole.'; expected 'Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.' +rows 1331 at dataset fps 25 = 53.24 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1331 rows vs ceil(2662/2) = 1331 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..2691, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 13.28 MB, 1331 frames at 25 fps, mean luma 102..140, std 35, new picture 1330x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1331 vs 1331 +[PASS] video observation.images.wrist decodes, 640x480, not black: 22.71 MB, 1331 frames at 25 fps, mean luma 99..151, std 39, new picture 1330x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1331 vs 1331 +parquet size 2.02 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 38.19 MB; whole cell dir 39.1 MB +RESULT: ALL PASS diff --git a/N021/sawyer_umi/dr_off/seed_1053/report.json b/N021/sawyer_umi/dr_off/seed_1053/report.json new file mode 100644 index 0000000000000000000000000000000000000000..ddf4477003d0d561727fd25e5e8daa115f3cfa3d --- /dev/null +++ b/N021/sawyer_umi/dr_off/seed_1053/report.json @@ -0,0 +1,1744 @@ +{ + "task": "N021", + "agent_id": null, + "embodiment": "sawyer_umi", + "level": "easy", + "scene_seed": 1053, + "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/n021_peg_insertion.yaml", + "full_success": true, + "failure_reason": null, + "dr": { + "seed": 1053, + "rack_peg": { + "dx": 0.05978, + 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There are a large gray table A, a large gray table B, a small peg rack, a small hole block and a small peg. The gray table A is to the left of the peg rack. The gray table B is to the left of the hole block. The hole block is on top of the gray table B. The hole block is to the right of the gray table B. The peg is on top of the peg rack. The scene is viewed from front-right, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [hole block]\n\n\n [[peg]rack]\n\n\n\n\n[robot]" + }, + "task": { + "task_type": "StationAssembly", + "instruction": "Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.", + "template_id": -1, + "slots": { + "obj": 1.5707963267948966, + "support": null + }, + "generic_instruction": "Stationassembly the 1.5707963267948966.", + "task_id": "N021", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0648": { + "frame_idx": 648, + "caption": "Computing a grasp pose for the small peg; the right gripper is below and to the right of and in front of the peg.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "peg_1", + "hand_id": 0, + "eef_relation": [ + "below", + "right_of", + 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"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": {} + } + ], + "peg_rack": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/peg_rack_a05/Object.usd", + "pose": { + "pos": [ + -1.94022, + 1.34286, + 0.43 + ], + "ori": [ + 0.9987252950668335, + 0.0, + 0.0, + -0.05047536641359329 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "hole_block": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/hole_block_a05/Object.usd", + "pose": { + "pos": [ + 1.25798, + 2.85695, + 0.43 + ], + "ori": [ + 0.9992648363113403, + 0.0, + 0.0, + -0.03833819180727005 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": {} + } + ], + "peg": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/peg_a05/Object.usd", + "pose": { + "pos": [ + -1.9402201175689697, + 1.3428587913513184, + 0.5100001692771912 + ], + "ori": [ + 0.7418962717056274, + 5.170717486180365e-06, + -6.918995040905429e-06, + 0.6705145239830017 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.04214, + "physics_material": { + "static_friction": 0.94632, + "dynamic_friction": 0.94632, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 0.0005934832151979208, + 0.0010528959101065993, + -0.0001525540865259245 + ], + "angular_velocity": [ + -0.017113685607910156, + 0.009507372044026852, + 0.001127187511883676 + ] + } + } + ] + } + ], + "artifacts": [ + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 853.35398, + "texture": null, + "color": [ + 0.85, + 0.85, + 0.85 + ] + } + } + }, + "robots": { + "RidgebackSawyerUmi": { + "root_pose": [ + [ + -3.6690399646759033, + -2.501620054244995, + 0.05999999865889549, + 0.8217565417289734, + 0.0, + 0.0, + 0.5698387026786804 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + -1.600000023841858, + 0.0, + 0.5, + 0.0, + 2.700000047683716, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ] + } + }, + "cameras": { + "cameras": { + "head": [ + [ + 0.21660000085830688, + 0.0, + -0.04500000178813934, + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + ], + "wrist": [ + [ + 0.05979999899864197, + 0.0, + 0.029999999329447746, + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N021/sawyer_umi/dr_off/seed_1053/stationassembly/000/sim_info/0/sim_states.npz b/N021/sawyer_umi/dr_off/seed_1053/stationassembly/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..8bf599022daa12b5b1cbf29ac4a5bc687fe634eb --- /dev/null +++ b/N021/sawyer_umi/dr_off/seed_1053/stationassembly/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ecc3a28439bcce8f688a9e7625e69dbaaae3c40da32de4cdb0e799a87e99a3a1 +size 388236 diff --git a/N021/sawyer_umi/dr_off/seed_1053/stationassembly/000/sim_info/magicsim_manifest.json b/N021/sawyer_umi/dr_off/seed_1053/stationassembly/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..ce575c117d8b7a5f33e201f483fc8ff85b050f88 --- /dev/null +++ b/N021/sawyer_umi/dr_off/seed_1053/stationassembly/000/sim_info/magicsim_manifest.json @@ -0,0 +1,233 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 11:32:35" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "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 \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": "stationassembly/000", + "task_type": "StationAssembly" + } +} \ No newline at end of file diff --git a/N021/sawyer_umi/dr_on/seed_2052/check.json b/N021/sawyer_umi/dr_on/seed_2052/check.json new file mode 100644 index 0000000000000000000000000000000000000000..21322494c37f5ee784102524bcf3ba45a57cbfa9 --- /dev/null +++ b/N021/sawyer_umi/dr_on/seed_2052/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 peg, carry it to the hole block, and insert the peg fully into the hole.'; expected 'Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1363 rows vs ceil(2725/2) = 1363" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..2755, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "15.46 MB, 1363 frames at 25 fps, mean luma 42..95, std 47, new picture 1362x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1363 vs 1363" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "19.53 MB, 1363 frames at 25 fps, mean luma 54..116, std 38, new picture 1362x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1363 vs 1363" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N021/sawyer_umi/dr_on/seed_2052/check.txt b/N021/sawyer_umi/dr_on/seed_2052/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..3fe1ffcf39f2f9c7a6e888315962c0d0a812809d --- /dev/null +++ b/N021/sawyer_umi/dr_on/seed_2052/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n021_saw_on_2052/out task=N021 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n021_saw_on_2052/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1363 videos 2 robot_type RidgebackSawyerUmiCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 1363 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.'; expected 'Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.' +rows 1363 at dataset fps 25 = 54.52 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1363 rows vs ceil(2725/2) = 1363 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..2755, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 15.46 MB, 1363 frames at 25 fps, mean luma 42..95, std 47, new picture 1362x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1363 vs 1363 +[PASS] video observation.images.wrist decodes, 640x480, not black: 19.53 MB, 1363 frames at 25 fps, mean luma 54..116, std 38, new picture 1362x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1363 vs 1363 +parquet size 2.03 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 37.20 MB; whole cell dir 38.1 MB +RESULT: ALL PASS diff --git a/N021/sawyer_umi/dr_on/seed_2052/report.json b/N021/sawyer_umi/dr_on/seed_2052/report.json new file mode 100644 index 0000000000000000000000000000000000000000..92476aba5181aa3a553bcd6e4c3ec6450decdf53 --- /dev/null +++ b/N021/sawyer_umi/dr_on/seed_2052/report.json @@ -0,0 +1,1774 @@ +{ + "task": "N021", + "agent_id": null, + "embodiment": "sawyer_umi", + "level": "easy", + "scene_seed": 2052, + "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/n021_peg_insertion.yaml", + "full_success": true, + "failure_reason": null, + "dr": { + "seed": 2052, + "rack_peg": { + "dx": -0.05162, + "dy": 0.01464, + "yaw_deg": -1.99342 + }, + "hole_block": { + "dx": -0.0252, + "dy": 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There are a large gray table A, a large gray table B, a small peg rack, a small hole block and a small peg. The gray table A is to the left of the peg rack. The gray table B is to the left of the hole block. The hole block is on top of the gray table B. The hole block is to the right of the gray table B. The peg is on top of the peg rack. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [hole block]\n\n\n\n[t[peg]rack]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationAssembly", + "instruction": "Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.", + "template_id": -1, + "slots": { + "obj": 1.5707963267948966, + "support": null + }, + "generic_instruction": "Stationassembly the 1.5707963267948966.", + "task_id": "N021", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0653": { + "frame_idx": 653, + "caption": "Computing a grasp pose for the small peg; the right gripper is below and to the left of and in front of the peg.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "peg_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0665": { + "frame_idx": 665, + "caption": "Working on the small peg; the right gripper is below and to the left of and in front of the peg.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "peg_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0732": { + "frame_idx": 732, + "caption": "Working on the small peg; the right gripper is below and to the left of the peg.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "peg_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_0770": { + "frame_idx": 770, + "caption": "Working on the small peg; the right gripper is below and to the left of and behind the peg.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "peg_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "behind" + ] + }, + "frame_0852": { + "frame_idx": 852, + "caption": "Working on the small peg; the right gripper is below and behind the peg.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "peg_1", + "hand_id": 0, + "eef_relation": [ + "below", + "behind" + ] + }, + "frame_0878": { + "frame_idx": 878, + "caption": "Working on the small peg; the right gripper is below the peg.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "peg_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1182": { + "frame_idx": 1182, + "caption": "Done — the small peg is grasped; the right gripper is below the peg.", + "skill": "Grasp", + "phase": "completed", + 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0000000000000000000000000000000000000000..e3ffef05e2589f0f341f83549e1aee0aad5b500f --- /dev/null +++ b/N021/sawyer_umi/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 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 peg, carry it to the hole block, and insert the peg fully into the hole.'; expected 'Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.'" + }, + "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 31..2669, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "30.25 MB, 1320 frames at 25 fps, mean luma 99..130, std 43, 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": "27.09 MB, 1320 frames at 25 fps, mean luma 99..140, std 43, new picture 1319x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1320 vs 1320" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N021/sawyer_umi/dr_on/seed_2053/check.txt b/N021/sawyer_umi/dr_on/seed_2053/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..d6230721098ddc693f1de684bc3a1ddd008222bf --- /dev/null +++ b/N021/sawyer_umi/dr_on/seed_2053/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n021_saw_on_2053/out task=N021 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n021_saw_on_2053/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1320 videos 2 robot_type RidgebackSawyerUmiCfg +[PASS] codebase v2.1: v2.1 +[PASS] dataset fps = 25: info.fps 25 +(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only) +[PASS] parquet episodes: 1 files, info.total_episodes=1 +--- episode file episode_000000.parquet: 1320 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.'; expected 'Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.' +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 31..2669, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 30.25 MB, 1320 frames at 25 fps, mean luma 99..130, std 43, 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: 27.09 MB, 1320 frames at 25 fps, mean luma 99..140, std 43, new picture 1319x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1320 vs 1320 +parquet size 1.97 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 59.49 MB; whole cell dir 60.4 MB +RESULT: ALL PASS diff --git a/N021/sawyer_umi/dr_on/seed_2053/report.json b/N021/sawyer_umi/dr_on/seed_2053/report.json new file mode 100644 index 0000000000000000000000000000000000000000..2d58c87150cd588cad36ddd1bee50ab2220124f1 --- /dev/null +++ b/N021/sawyer_umi/dr_on/seed_2053/report.json @@ -0,0 +1,1729 @@ +{ + "task": "N021", + "agent_id": null, + "embodiment": "sawyer_umi", + "level": "easy", + "scene_seed": 2053, + "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/n021_peg_insertion.yaml", + "full_success": true, + "failure_reason": null, + "dr": { + "seed": 2053, + "rack_peg": { + "dx": 0.04029, + "dy": 0.02153, + "yaw_deg": -3.2103 + }, + "hole_block": { + "dx": 0.05758, + "dy": 0.02231, + "yaw_deg": -3.6887 + }, + "peg_mass": 0.05334, + "peg_friction": 1.10441, + 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newline at end of file diff --git a/N021/sawyer_umi/dr_on/seed_2053/stationassembly/000/lerobot_v21/meta/info.json b/N021/sawyer_umi/dr_on/seed_2053/stationassembly/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..f8ca13d42ff8d554b6d9eea426837b4135846451 --- /dev/null +++ b/N021/sawyer_umi/dr_on/seed_2053/stationassembly/000/lerobot_v21/meta/info.json @@ -0,0 +1,282 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 1320, + "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", + 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b/N021/sawyer_umi/dr_on/seed_2053/stationassembly/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba06bfa57d0105a03ee28ad732c88a5a00ef619bd6d28c322cb76f4cb539dc51 +size 384661 diff --git a/N021/sawyer_umi/dr_on/seed_2053/stationassembly/000/sim_info/magicsim_manifest.json b/N021/sawyer_umi/dr_on/seed_2053/stationassembly/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..cff73a0ca2a85aa4a1fd418345191244759a64a5 --- /dev/null +++ b/N021/sawyer_umi/dr_on/seed_2053/stationassembly/000/sim_info/magicsim_manifest.json @@ -0,0 +1,233 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 11:32:00" + }, + "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", 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+ "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": 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b/N022/sawyer_umi/dr_off/seed_1050/check.json new file mode 100644 index 0000000000000000000000000000000000000000..ad15e8147235b064034fbffe5ce93061a9f1a411 --- /dev/null +++ b/N022/sawyer_umi/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 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": "1379 rows vs ceil(2758/2) = 1379" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..2787, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "14.61 MB, 1379 frames at 25 fps, mean luma 103..145, std 34, new picture 1378x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1379 vs 1379" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "23.39 MB, 1379 frames at 25 fps, mean luma 101..172, std 37, new picture 1378x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1379 vs 1379" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N022/sawyer_umi/dr_off/seed_1050/check.txt b/N022/sawyer_umi/dr_off/seed_1050/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..1d5e8969ae723a200aa0cf91ae68470f4532ae7e --- /dev/null +++ b/N022/sawyer_umi/dr_off/seed_1050/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n022_saw_off_1050/out task=N022 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n022_saw_off_1050/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1379 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: 1379 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 1379 at dataset fps 25 = 55.16 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1379 rows vs ceil(2758/2) = 1379 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..2787, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 14.61 MB, 1379 frames at 25 fps, mean luma 103..145, std 34, new picture 1378x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1379 vs 1379 +[PASS] video observation.images.wrist decodes, 640x480, not black: 23.39 MB, 1379 frames at 25 fps, mean luma 101..172, std 37, new picture 1378x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1379 vs 1379 +parquet size 1.98 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 40.16 MB; whole cell dir 41.0 MB +RESULT: ALL PASS diff --git a/N022/sawyer_umi/dr_off/seed_1050/report.json b/N022/sawyer_umi/dr_off/seed_1050/report.json new file mode 100644 index 0000000000000000000000000000000000000000..94c12d6d356cc1d6a552eaaa03a7b687ce7b90a4 --- /dev/null +++ b/N022/sawyer_umi/dr_off/seed_1050/report.json @@ -0,0 +1,1789 @@ +{ + "task": "N022", + "agent_id": null, + "embodiment": "sawyer_umi", + "level": "easy", + "scene_seed": 1050, + "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/n022_rail_slide.yaml", + "full_success": true, + "failure_reason": null, + "dr": { + "seed": 1050, + "tile": { + "dx": 0.03454, + "dy": 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0.0, + -0.04500000178813934, + -0.6743797063827515, + 0.21263112127780914, + -0.21263112127780914, + 0.6743797659873962 + ] + ], + "wrist": [ + [ + 0.05979999899864197, + 0.0, + 0.029999999329447746, + 6.123234262925839e-17, + 0.7071067690849304, + 0.7071067690849304, + -4.329780301713277e-17 + ] + ] + } + } + } +} \ No newline at end of file diff --git a/N022/sawyer_umi/dr_off/seed_1050/stationassembly/000/sim_info/0/sim_states.npz b/N022/sawyer_umi/dr_off/seed_1050/stationassembly/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..aa130c6ac234412ab0f8c35b1257d251ff75e966 --- /dev/null +++ b/N022/sawyer_umi/dr_off/seed_1050/stationassembly/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be5d5a2de29dac989b7c79d6a69e7309516afadff2f57f186c450543fc65bc4d +size 389207 diff --git a/N022/sawyer_umi/dr_off/seed_1050/stationassembly/000/sim_info/magicsim_manifest.json b/N022/sawyer_umi/dr_off/seed_1050/stationassembly/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..4947a5d00f92486099a020e7a4e350a9b830a5f4 --- /dev/null +++ b/N022/sawyer_umi/dr_off/seed_1050/stationassembly/000/sim_info/magicsim_manifest.json @@ -0,0 +1,233 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 11:35:18" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "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 \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": "stationassembly/000", + "task_type": "StationAssembly" + } +} \ No newline at end of file diff --git a/N022/sawyer_umi/dr_on/seed_2050/check.json b/N022/sawyer_umi/dr_on/seed_2050/check.json new file mode 100644 index 0000000000000000000000000000000000000000..62b5e78a3b7eeac7f31a442473da78fdadd2f254 --- /dev/null +++ b/N022/sawyer_umi/dr_on/seed_2050/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 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": "1395 rows vs ceil(2789/2) = 1395" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..2819, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "26.71 MB, 1395 frames at 25 fps, mean luma 63..123, std 50, new picture 1394x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1395 vs 1395" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "31.10 MB, 1395 frames at 25 fps, mean luma 92..182, std 39, new picture 1394x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1395 vs 1395" + }, + "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_2050/check.txt b/N022/sawyer_umi/dr_on/seed_2050/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..9d8612c5f8dfc00ac2f4dfc81a0799ff14280d77 --- /dev/null +++ b/N022/sawyer_umi/dr_on/seed_2050/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n022_saw_on_2050/out task=N022 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n022_saw_on_2050/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1395 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: 1395 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 1395 at dataset fps 25 = 55.80 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1395 rows vs ceil(2789/2) = 1395 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..2819, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 26.71 MB, 1395 frames at 25 fps, mean luma 63..123, std 50, new picture 1394x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1395 vs 1395 +[PASS] video observation.images.wrist decodes, 640x480, not black: 31.10 MB, 1395 frames at 25 fps, mean luma 92..182, std 39, new picture 1394x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1395 vs 1395 +parquet size 1.98 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 59.96 MB; whole cell dir 60.9 MB +RESULT: ALL PASS diff --git a/N022/sawyer_umi/dr_on/seed_2050/report.json b/N022/sawyer_umi/dr_on/seed_2050/report.json new file mode 100644 index 0000000000000000000000000000000000000000..40d61f5688075f27b9b59717574a7f5c6659a9a0 --- /dev/null +++ b/N022/sawyer_umi/dr_on/seed_2050/report.json @@ -0,0 +1,1804 @@ +{ + "task": "N022", + "agent_id": null, + "embodiment": "sawyer_umi", + "level": "easy", + "scene_seed": 2050, + "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/n022_rail_slide.yaml", + "full_success": true, + "failure_reason": null, + "dr": { + "seed": 2050, + "tile": { + "dx": -0.06483, + "dy": 0.02495, + "yaw_deg": -4.89016 + }, + "rail": { + "dx": -0.0528, + "dy": 0.01326, + "yaw_deg": -0.45116 + }, + "tile_mass": 0.02247, + "light": 962.87961, + "spawn": { + "dx": 0.14984, + "dy": 0.03155, + "yaw_deg": 5.1639 + }, + "overrides": { + "env.scene.objects.tile.common.pos": [ + -2.06483, + 1.42495, + 0.431 + ], + "env.scene.objects.tile.common.ori": [ + 0.0, + 0.0, + 85.10984 + ], + "env.scene.objects.rail.common.pos": [ + 1.1472, + 2.79326, + 0.43 + ], + "env.scene.objects.rail.common.ori": [ + 0.0, + 0.0, + 89.54884 + ], + "env.scene.objects.tile.tile_1.physics.mass": 0.02247, + "env.scene.background.intensity": [ + 962.87961, + 962.87961 + ], + "env.robot.RidgebackSawyerUmi.common.pos": [ + [ + -3.45016, + -2.46845, + 0.06 + ], + [ + -3.45016, + -2.46845, + 0.06 + ] + ], + "env.robot.RidgebackSawyerUmi.common.ori": [ + [ + 0, + 0, + 65.1639 + ], + [ + 0, + 0, + 65.1639 + ] + ] + } + }, + "planner_seeds": { + "label": "default", + "num_trajopt_seeds": null, + "num_ik_seeds": null, + "max_attempts": 6 + }, + "collect": { + "task": "N022", + "robot": "sawyer_umi", + "visual_dr": true, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N022", + "MMB_CLEAN_VIEW": "1", + "MMB_REAL_ROBOT_LOOK": "1", + "MMB_VISUAL_DR": "1" + }, + "cameras": { + "head": { + "link": "Robot_0/head", + 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The scene is viewed from front-right, at table height."} diff --git a/N022/sawyer_umi/dr_on/seed_2050/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl b/N022/sawyer_umi/dr_on/seed_2050/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..071564908cdbc0187a7ec207784b8002fd4a7f86 --- /dev/null +++ b/N022/sawyer_umi/dr_on/seed_2050/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.1316847117464175, -0.000836642680349209, 0.006669227069445742, -0.8237578350796921, 1.2874063381371106, 0.9166698378901328, 0.4511834728995532, 0.5963804422740868, 0.2881262934282689, -0.536315207840294, 0.6344086021505376], "std": [0.13141696279899295, 0.010013333373391782, 0.1759429858353847, 1.6346611778884559, 1.1187326254280134, 0.2310939579805091, 0.14200109173906683, 0.07461735818795077, 0.1856130897669558, 0.09964263209304301, 0.4815956059474995], 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There are a large gray table A, a large gray table B, a small rail and a small tile. The gray table A is in front of the tile. The gray table B is in front of the rail. The rail is on top of the gray table B. The rail is behind the gray table B. The tile is on top of the gray table A. The tile 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 [ta[rail]\n\n\n[tile] A]\n\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationAssembly", + "instruction": "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.", + "template_id": -1, + "slots": { + "obj": 1.5707963267948966, + "support": null + }, + "generic_instruction": "Stationassembly the 1.5707963267948966.", + "task_id": "N022", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0622": { + "frame_idx": 622, + "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_0630": { + "frame_idx": 630, + "caption": "Working on the small tile; the right gripper is below and to the left of and in front of the tile.", + "skill": "AssemblyGrasp", + "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_0661": { + "frame_idx": 661, + "caption": "Working on the small tile; the right gripper is below and in front of the tile.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_0748": { + "frame_idx": 748, + "caption": "Working on the small tile; the right gripper is below and to the right of and in front of the tile.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "right_of", + "in_front_of" + ] + }, + "frame_0794": { + "frame_idx": 794, + "caption": "Working on the small tile; the right gripper is below and to the right of the tile.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "right_of" + ] + }, + "frame_1111": { + "frame_idx": 1111, + "caption": "Done — the small tile is grasped; the right gripper is below and to the right of the tile.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "right_of" + ] + }, + "frame_1112": { + "frame_idx": 1112, + "caption": "Working on the small tile; the right gripper is below and to the right of the tile.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "right_of" + ] + }, + "frame_1136": { + "frame_idx": 1136, + "caption": "Working on the small tile; the right gripper is below the tile.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1140": { + "frame_idx": 1140, + "caption": "Working on the small tile; the right gripper is below and in front of the tile.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1216": { + "frame_idx": 1216, + "caption": "Working on the small tile; the right gripper is below and to the left of and in front of the tile.", + "skill": "CarryPose", + "phase": null, + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2139": { + "frame_idx": 2139, + "caption": "Computing a grasp pose for the small rail; the right gripper is below and to the left of and in front of the rail.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "rail_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2144": { + "frame_idx": 2144, + "caption": "Working on the small rail; the right gripper is below and to the left of and in front of the rail.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "rail_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2239": { + "frame_idx": 2239, + "caption": "Working on the small rail; the right gripper is below and in front of the rail.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "rail_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_2296": { + "frame_idx": 2296, + "caption": "Working on the small rail; the right gripper is below and to the right of and in front of the rail.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "rail_1", + "hand_id": 0, + "eef_relation": [ + "below", + "right_of", + "in_front_of" + ] + }, + "frame_2308": { + "frame_idx": 2308, + "caption": "Working on the small rail; the right gripper is below and to the right of the rail.", + "skill": "ReachStance", + "phase": "walk", + "skill_state": "running", + "planner": "MobileServoL", + "planner_state": "running", + "target": "rail_1", + "hand_id": 0, + "eef_relation": [ + "below", + "right_of" + ] + }, + "frame_2358": { + "frame_idx": 2358, + "caption": "Computing a grasp pose for the small rail; the right gripper is below and to the right of the rail.", + "skill": "ReachStance", + "phase": "verify", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "rail_1", + "hand_id": 0, + "eef_relation": [ + "below", + "right_of" + ] + }, + "frame_2361": { + "frame_idx": 2361, + "caption": "Working on the small tile; the right gripper is below and to the left of and behind the tile.", + "skill": "AssemblyInsert", + "phase": "wp:pre_insert", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tile_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "behind" + ] + } + } + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N022/sawyer_umi/dr_on/seed_2050/stationassembly/000/lerobot_v21/meta/info.json b/N022/sawyer_umi/dr_on/seed_2050/stationassembly/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..33da45d87c3ad21503765fe647cea2c3b3ffe17b --- /dev/null +++ b/N022/sawyer_umi/dr_on/seed_2050/stationassembly/000/lerobot_v21/meta/info.json @@ -0,0 +1,275 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 1395, + "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", 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"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/N022/sawyer_umi/dr_on/seed_2050/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json b/N022/sawyer_umi/dr_on/seed_2050/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..12c810b00c3718c8d28220f988f0ce7b77a0041e --- /dev/null +++ b/N022/sawyer_umi/dr_on/seed_2050/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 11:35:01" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + 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b/N022/sawyer_umi/dr_on/seed_2050/stationassembly/000/sim_info/magicsim_manifest.json @@ -0,0 +1,233 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 11:35:23" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + 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'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1342 rows vs ceil(2684/2) = 1342" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..2713, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "25.35 MB, 1342 frames at 25 fps, mean luma 77..125, std 45, new picture 1341x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1342 vs 1342" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "31.68 MB, 1342 frames at 25 fps, mean luma 93..182, std 39, new picture 1341x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1342 vs 1342" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N025/sawyer_umi/dr_on/seed_2050/check.txt b/N025/sawyer_umi/dr_on/seed_2050/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..80fe0b3cdcea37217bca172a7e496b10f2872bbc --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2050/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n025_saw_on_2050/out task=N025 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n025_saw_on_2050/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1342 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: 1342 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.' +rows 1342 at dataset fps 25 = 53.68 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1342 rows vs ceil(2684/2) = 1342 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..2713, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 25.35 MB, 1342 frames at 25 fps, mean luma 77..125, std 45, new picture 1341x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1342 vs 1342 +[PASS] video observation.images.wrist decodes, 640x480, not black: 31.68 MB, 1342 frames at 25 fps, mean luma 93..182, std 39, new picture 1341x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1342 vs 1342 +parquet size 2.00 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 59.20 MB; whole cell dir 60.1 MB +RESULT: ALL PASS diff --git a/N025/sawyer_umi/dr_on/seed_2050/report.json b/N025/sawyer_umi/dr_on/seed_2050/report.json new file mode 100644 index 0000000000000000000000000000000000000000..0fd1e198d54173d8d5d39868ca6885be944ed6ec --- /dev/null +++ b/N025/sawyer_umi/dr_on/seed_2050/report.json @@ -0,0 +1,1755 @@ +{ + "task": "N025", + "agent_id": null, + "embodiment": "sawyer_umi", + "level": "easy", + "scene_seed": 2050, + "execution_mode": 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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_1062/data/check.json b/N026/sawyer_umi/dr_off/seed_1062/data/check.json new file mode 100644 index 0000000000000000000000000000000000000000..1789ae0809f2ec467076f557b48f89aea0b14d8a --- /dev/null +++ b/N026/sawyer_umi/dr_off/seed_1062/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": "3136 rows vs ceil(6272/2) = 3136" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 61..6331, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "37.79 MB, 3136 frames at 25 fps, mean luma 37..146, std 31, new picture 3135x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "3136 vs 3136" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "48.54 MB, 3136 frames at 25 fps, mean luma 112..145, std 24, new picture 3135x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "3136 vs 3136" + }, + "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_1062/data/check.txt b/N026/sawyer_umi/dr_off/seed_1062/data/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..94fe60bfad5a060f579abe6507d02af15fe99bfd --- /dev/null +++ b/N026/sawyer_umi/dr_off/seed_1062/data/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n026_saw_off_1062/out/data task=N026 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n026_saw_off_1062/out/data/mobiletooltask/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 3136 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: 3136 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 3136 at dataset fps 25 = 125.44 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3136 rows vs ceil(6272/2) = 3136 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6331, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 37.79 MB, 3136 frames at 25 fps, mean luma 37..146, std 31, new picture 3135x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 3136 vs 3136 +[PASS] video observation.images.wrist decodes, 640x480, not black: 48.54 MB, 3136 frames at 25 fps, mean luma 112..145, std 24, new picture 3135x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 3136 vs 3136 +parquet size 2.26 MB +[PASS] sim_info present: mobiletooltask/000/sim_info +dataset size 88.66 MB; whole cell dir 90.1 MB +RESULT: ALL PASS diff --git a/N026/sawyer_umi/dr_off/seed_1062/data/mobiletooltask/000/completed/0.json b/N026/sawyer_umi/dr_off/seed_1062/data/mobiletooltask/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..0d8a819369131bfecef4d0d180698b70179d0569 --- /dev/null +++ b/N026/sawyer_umi/dr_off/seed_1062/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_1062/data/mobiletooltask/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N026/sawyer_umi/dr_off/seed_1062/data/mobiletooltask/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..10df5d63717786d5ba35e03c7d2c9831d0b196b2 --- /dev/null +++ b/N026/sawyer_umi/dr_off/seed_1062/data/mobiletooltask/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2702c7102a217a34886d03c84a1de5269581045cbab445ab7a1ac9b4436b40f7 +size 2258327 diff --git a/N026/sawyer_umi/dr_off/seed_1062/data/mobiletooltask/000/lerobot_v21/meta/episodes.jsonl b/N026/sawyer_umi/dr_off/seed_1062/data/mobiletooltask/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..85197ace0bebb4014a79299e16b97acbc30df408 --- /dev/null +++ b/N026/sawyer_umi/dr_off/seed_1062/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": 3136, "magicsim/control_steps": 6272, "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 in front 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_1062/data/mobiletooltask/000/lerobot_v21/meta/episodes_stats.jsonl b/N026/sawyer_umi/dr_off/seed_1062/data/mobiletooltask/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..17eb210eda5332b2f9bf6149ec3dd9e5a16588c7 --- /dev/null +++ b/N026/sawyer_umi/dr_off/seed_1062/data/mobiletooltask/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.05941967470440729, 0.00124125286184812, 0.0067702067130345055, 0.978530608538101, 0.769530785032453, 0.8025350527723834, -0.2872477920597647, 0.3982925030916017, 0.18974497539431226, -0.2310361969599382, 0.6737882653061225], "std": [0.10597732454878693, 0.011724376273536575, 0.14462086138094954, 1.6493694690108343, 0.7609311725961572, 0.21126391721145416, 0.5176773889280183, 0.46878339981061795, 0.2886651291834793, 0.31368068925168086, 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-0.6520016448850744, + -0.10499994754402174 + ], + "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": [ + 4.279775086871855, + -0.5552027938542768, + -0.02999994752215154 + ], + "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": [ + -3.65, + -2.2054490203559043, + 0.06 + ], + "ori": [ + 0.945268452167511, + 0.0, + 0.0, + 0.3262936472892761 + ] + }, + "facing_yaw_deg": 38.087937155930426, + "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 in front 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 [[en[ring]rker]\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_1062/data/mobiletooltask/000/lerobot_v21/meta/info.json b/N026/sawyer_umi/dr_off/seed_1062/data/mobiletooltask/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..0cde52e43e32c885eb6f73752f5bb8e446236707 --- /dev/null +++ b/N026/sawyer_umi/dr_off/seed_1062/data/mobiletooltask/000/lerobot_v21/meta/info.json @@ -0,0 +1,327 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 3136, + "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_1062/data/mobiletooltask/000/lerobot_v21/meta/magicsim_manifest.json b/N026/sawyer_umi/dr_off/seed_1062/data/mobiletooltask/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..e6229d4446fb91e257bc948419313203858bb7f6 --- /dev/null +++ b/N026/sawyer_umi/dr_off/seed_1062/data/mobiletooltask/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 11:44:28" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": 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null, + "distance_to_first_interaction": 3.651, + "interstation_path_lengths": { + "S->first": 3.651, + "A->next": 3.885 + }, + "station_transition_order": [ + "A", + "B" + ], + "final_approach_pose": [ + 2.57185697555542, + 0.718984842300415, + 1.5118609556504814 + ], + "regrasp_events": [], + "material_loss_during_transport": 0, + "violations": [], + "metrics": { + "ring_local": [ + 0.099, + 0.013, + 0.001 + ], + "ring_to_marker_m": 0.027, + "ring_travel_m": 0.311, + "leg_in_hole_frames": 1158, + "tcp_to_ring_m": 0.45, + "tool_lift_m": 0.042, + "tool_lift_max_m": 0.224 + }, + "episode_ticks": 6332, + "episode_time_s": 126.64, + "max_base_step_disp_m": 0.007, + "command_shapes": { + "1x47x16": 783, + "1x16": 4258, + "1x51x16": 1176 + } + } + ], + "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": 1062, + "spawn_dxy": [ + -0.10486882639642459, + 0.1945509796440954 + ], + "spawn_dyaw_deg": -6.912061601257896, + "friction_scale": 1.0918331651760178, + "mass_scale": 0.9418298509062875, + "ring_y": 0.010884027535069545 + }, + "steps": 6332, + "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": 1392.57 +} diff --git a/N028/sawyer_umi/dr_off/seed_1050/data/check.json b/N028/sawyer_umi/dr_off/seed_1050/data/check.json new file mode 100644 index 0000000000000000000000000000000000000000..9c57591e5dd038dff8161755df9ec1b6071edec2 --- /dev/null +++ b/N028/sawyer_umi/dr_off/seed_1050/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(4009/2) = 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": "26.45 MB, 2005 frames at 25 fps, mean luma 68..148, std 44, 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": "26.66 MB, 2005 frames at 25 fps, mean luma 106..146, std 30, 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_off/seed_1050/data/check.txt b/N028/sawyer_umi/dr_off/seed_1050/data/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..d7233ae9d4c91406229b6bca93d0e522df2a5084 --- /dev/null +++ b/N028/sawyer_umi/dr_off/seed_1050/data/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n028_saw_off_1050/out/data task=N028 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n028_saw_off_1050/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(4009/2) = 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: 26.45 MB, 2005 frames at 25 fps, mean luma 68..148, std 44, 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: 26.66 MB, 2005 frames at 25 fps, mean luma 106..146, std 30, new picture 2004x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2005 vs 2005 +parquet size 1.76 MB +[PASS] sim_info present: mobiletooltask/000/sim_info +dataset size 55.09 MB; whole cell dir 56.2 MB +RESULT: ALL PASS diff --git a/N028/sawyer_umi/dr_off/seed_1050/data/mobiletooltask/000/completed/0.json b/N028/sawyer_umi/dr_off/seed_1050/data/mobiletooltask/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..0d8a819369131bfecef4d0d180698b70179d0569 --- /dev/null +++ b/N028/sawyer_umi/dr_off/seed_1050/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_1050/data/mobiletooltask/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N028/sawyer_umi/dr_off/seed_1050/data/mobiletooltask/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..ae4c0bad012b92a15f44918a9409b04a6f49f4e6 --- /dev/null +++ b/N028/sawyer_umi/dr_off/seed_1050/data/mobiletooltask/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2af7443d438e1001fb04da2b9d995f6ae03e3c8d2c38cba42e4a27835d6e78a9 +size 1759430 diff --git a/N028/sawyer_umi/dr_off/seed_1050/data/mobiletooltask/000/lerobot_v21/meta/episodes.jsonl b/N028/sawyer_umi/dr_off/seed_1050/data/mobiletooltask/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1180e6bcc18a225e54cbdc95009b06f58bb006bf --- /dev/null +++ b/N028/sawyer_umi/dr_off/seed_1050/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": 4009, "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_1050/data/mobiletooltask/000/lerobot_v21/meta/episodes_stats.jsonl b/N028/sawyer_umi/dr_off/seed_1050/data/mobiletooltask/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d4ad29d10f18170153c31ea26c811a7175fb7110 --- /dev/null +++ b/N028/sawyer_umi/dr_off/seed_1050/data/mobiletooltask/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.05016357240144005, -9.258370892959937e-05, -0.006492970631767919, 0.3356771468447331, 0.19738264131427108, 0.8483326140484607, -0.21826892745985355, 0.5132399221310889, 0.05603341566582449, -0.1593981684138063, 0.5037406483790524], "std": [0.10925489206817009, 0.0024084450945289714, 0.05963338198332688, 0.8619694690119161, 0.40415793792609844, 0.2535359476737029, 0.437360077958813, 0.6133998102921497, 0.10586397803162512, 0.2857368806120278, 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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_1050/data/mobiletooltask/000/lerobot_v21/meta/info.json b/N028/sawyer_umi/dr_off/seed_1050/data/mobiletooltask/000/lerobot_v21/meta/info.json new file mode 100644 index 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"clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "dr_params": { + "seed": 1050, + "spawn_dxy": [ + -0.32389605327927146, + -0.011309109221800007 + ], + "spawn_dyaw_deg": -15.505063446592494, + "friction_scale": 1.143315196617331, + "mass_scale": 1.0077445977242847, + "start_zone": 2, + "avatar_shift": [ + 0.043712169474239296, + 0.056623029433376645 + ] + }, + "steps": 4069, + "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": 1043.43 +} diff --git a/N028/sawyer_umi/dr_on/seed_2050/data/check.json b/N028/sawyer_umi/dr_on/seed_2050/data/check.json new file mode 100644 index 0000000000000000000000000000000000000000..8b6d29f8b28da154eeef81892a6427404cce0ae7 --- /dev/null +++ b/N028/sawyer_umi/dr_on/seed_2050/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": "1956 rows vs ceil(3912/2) = 1956" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 61..3971, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "41.59 MB, 1956 frames at 25 fps, mean luma 74..128, std 47, new picture 1955x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1956 vs 1956" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "32.15 MB, 1956 frames at 25 fps, mean luma 97..144, std 44, new picture 1955x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1956 vs 1956" + }, + "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_2050/data/check.txt b/N028/sawyer_umi/dr_on/seed_2050/data/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..9499ee6a85d1eb930548335ca88b74a9432aaa14 --- /dev/null +++ b/N028/sawyer_umi/dr_on/seed_2050/data/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n028_saw_on_2050/out/data task=N028 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n028_saw_on_2050/out/data/mobiletooltask/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1956 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: 1956 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 1956 at dataset fps 25 = 78.24 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1956 rows vs ceil(3912/2) = 1956 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3971, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 41.59 MB, 1956 frames at 25 fps, mean luma 74..128, std 47, new picture 1955x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1956 vs 1956 +[PASS] video observation.images.wrist decodes, 640x480, not black: 32.15 MB, 1956 frames at 25 fps, mean luma 97..144, std 44, new picture 1955x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1956 vs 1956 +parquet size 1.65 MB +[PASS] sim_info present: mobiletooltask/000/sim_info +dataset size 75.62 MB; whole cell dir 76.7 MB +RESULT: ALL PASS diff --git a/N028/sawyer_umi/dr_on/seed_2050/data/mobiletooltask/000/completed/0.json b/N028/sawyer_umi/dr_on/seed_2050/data/mobiletooltask/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..0d8a819369131bfecef4d0d180698b70179d0569 --- /dev/null +++ b/N028/sawyer_umi/dr_on/seed_2050/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_2050/data/mobiletooltask/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N028/sawyer_umi/dr_on/seed_2050/data/mobiletooltask/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..937be98f2680faaf9e50dcca3c695d4431670358 --- /dev/null +++ b/N028/sawyer_umi/dr_on/seed_2050/data/mobiletooltask/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:189790dbde30b7e7b612a2b247d9c2bd0881325e99c758e38447c0bb6f49f838 +size 1652254 diff --git a/N028/sawyer_umi/dr_on/seed_2050/data/mobiletooltask/000/lerobot_v21/meta/episodes.jsonl b/N028/sawyer_umi/dr_on/seed_2050/data/mobiletooltask/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2e7559cab0697cb415dfd00cabe11de4ca2fc143 --- /dev/null +++ b/N028/sawyer_umi/dr_on/seed_2050/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": 1956, "magicsim/control_steps": 3912, "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_2050/data/mobiletooltask/000/lerobot_v21/meta/episodes_stats.jsonl b/N028/sawyer_umi/dr_on/seed_2050/data/mobiletooltask/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2890de19af0b68d1803e81fbebe8e16bd56f2833 --- /dev/null +++ b/N028/sawyer_umi/dr_on/seed_2050/data/mobiletooltask/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.04286522282466506, -0.0005618167940169146, -0.010612226050942974, 0.42609176442697494, 0.2297354777227394, 0.8294879078925996, 0.8317784828672867, 0.17159265418770447, 0.05322350873619865, -0.14369555656181768, 0.516359918200409], "std": [0.10203360840125025, 0.0025551946512800895, 0.06493428119481384, 0.6881222479684095, 0.31667704922457135, 0.248176181117098, 0.30696315294793736, 0.27248177218586656, 0.10724033257879707, 0.27431033723469306, 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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_on/seed_2050/data/mobiletooltask/000/lerobot_v21/meta/info.json b/N028/sawyer_umi/dr_on/seed_2050/data/mobiletooltask/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..c3232329924ef0f10910a827d441ce2fb40099b6 --- /dev/null +++ b/N028/sawyer_umi/dr_on/seed_2050/data/mobiletooltask/000/lerobot_v21/meta/info.json @@ -0,0 +1,978 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 1956, + "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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a/N028/sawyer_umi/dr_on/seed_2050/data/mobiletooltask/000/lerobot_v21/meta/magicsim_manifest.json b/N028/sawyer_umi/dr_on/seed_2050/data/mobiletooltask/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..eb201b062e0969e39f4f5b48fbd60771a87bd8ca --- /dev/null +++ b/N028/sawyer_umi/dr_on/seed_2050/data/mobiletooltask/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 11:44:09" + }, + "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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"RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase", + "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_BigToe1", + "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_PinkyToe1", + "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_RingToe1", + "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_IndexToe1", + "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_MidToe1", + "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBaseShareBone", + "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_CalfTwist01", + "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_CalfTwist01/R_CalfTwist02", + "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_ThighTwist01", + "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_ThighTwist01/R_ThighTwist02", + "RL_BoneRoot/Hip/Waist", + "RL_BoneRoot/Hip/Waist/Spine01", + "RL_BoneRoot/Hip/Waist/Spine01/Spine02", + "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01", + "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02", + 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"distance_to_first_interaction": 3.353, + "interstation_path_lengths": { + "S->first": 3.353 + }, + "station_transition_order": [ + "A" + ], + "final_approach_pose": [ + -0.025237426161766052, + 0.28510281443595886, + -0.013336707384135987 + ], + "regrasp_events": [], + "material_loss_during_transport": 0, + "violations": [], + "metrics": { + "knob_deg": 119.8, + "knob_zone": 6, + "target_zone": 6, + "start_zone": 5, + "decoded_zone": 6, + "avatar_response_correct": true, + "hold_frames": 90, + "released": true + }, + "episode_ticks": 3972, + "episode_time_s": 79.44, + "max_base_step_disp_m": 0.006, + "command_shapes": { + "1x45x16": 731, + "1x16": 3061 + }, + "avatar_pointed_zone": 6, + "avatar_decoded_zone": 6, + "avatar_event_times": { + "cue_start": 0.06, + "cue_steady": 1.66, + "collision_on": 15.84 + }, + "cue_visibility": 1.0, + "min_robot_avatar_dist_m": 1.146, + "avatar_pointing": { + "direction": [ + 0.326, + -0.751, + -0.574 + ], + "err_deg": 0.0, + "tip": [ + 0.767, + 0.734, + 1.05 + ] + } + } + ], + "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": 2050, + "spawn_dxy": [ + 0.30981596141495216, + 0.25577508156394335 + ], + "spawn_dyaw_deg": 2.122524359182975, + "friction_scale": 1.084284640029612, + "mass_scale": 1.0308436230416795, + "start_zone": 5, + "avatar_shift": [ + -0.006805377690672965, + -0.004461842666215188 + ] + }, + "steps": 3972, + "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": 1225.01 +} diff --git a/N032/go2_arm/dr_off/seed_1055/check.json b/N032/go2_arm/dr_off/seed_1055/check.json new file mode 100644 index 0000000000000000000000000000000000000000..01780d0f19815a27ac31ffd0361e0a369703194b --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1055/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": "1802 rows vs ceil(3604/2) = 1802" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..3703, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "15.65 MB, 1802 frames at 25 fps, mean luma 100..139, std 28, new picture 1801x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1802 vs 1802" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "33.18 MB, 1802 frames at 25 fps, mean luma 99..171, std 30, new picture 1801x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1802 vs 1802" + }, + "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_1055/check.txt b/N032/go2_arm/dr_off/seed_1055/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..942523ae32f203e1e0568c3980c9cbd220c741d9 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1055/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n032_go2_off_1055/out task=N032 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n032_go2_off_1055/out/rec/stationpuzzle/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1802 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: 1802 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 1802 at dataset fps 25 = 72.08 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1802 rows vs ceil(3604/2) = 1802 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..3703, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 15.65 MB, 1802 frames at 25 fps, mean luma 100..139, std 28, new picture 1801x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1802 vs 1802 +[PASS] video observation.images.wrist decodes, 640x480, not black: 33.18 MB, 1802 frames at 25 fps, mean luma 99..171, std 30, new picture 1801x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1802 vs 1802 +parquet size 7.25 MB +[PASS] sim_info present: rec/stationpuzzle/000/sim_info +dataset size 56.38 MB; whole cell dir 58.4 MB +RESULT: ALL PASS diff --git a/N032/go2_arm/dr_off/seed_1055/rec/stationpuzzle/000/completed/0.json b/N032/go2_arm/dr_off/seed_1055/rec/stationpuzzle/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..8ccdef7d6fe05159c409af74707fd6bc60bede10 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1055/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_1055/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N032/go2_arm/dr_off/seed_1055/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..f073e93a385f880a7e00bb45ccf50803a9eb02ee --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1055/rec/stationpuzzle/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9087a33d3521d9513a127b39d6b60a6e3287ab5720cfd4f4e4126b607301f39f +size 7251563 diff --git a/N032/go2_arm/dr_off/seed_1055/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl b/N032/go2_arm/dr_off/seed_1055/rec/stationpuzzle/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1ea3c52de7c5a3866c2b0fd2b82ffbd6ae35c655 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1055/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": 1802, "magicsim/control_steps": 3604, "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_off/seed_1055/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl b/N032/go2_arm/dr_off/seed_1055/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5e9aa0dc6c7f8183bab0d95e09b3fc1a12a0ffc9 --- /dev/null +++ b/N032/go2_arm/dr_off/seed_1055/rec/stationpuzzle/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.17637875556251184, -0.0032617628231198094, 0.021187375130888475, 0.3379134237600881, 0.4456357948821075, 0.6211188630377678, 0.6284812790373718, 0.06589480823879601, -0.5873158662667815, 0.45200623372506626, 0.18129240709990593, 0.43340732519422864], "std": [0.1513473980741511, 0.02112156121018285, 0.32040515169982253, 0.02606861473907528, 1.437955834481277, 1.5035063560568036, 0.0563463288053378, 0.15204698113908072, 0.26923076291889736, 0.5448062347287248, 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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 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]le]\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": 1.4986227940557257, + "support": null + }, + "generic_instruction": "Stationpuzzle the 1.4986227940557257.", + "task_id": "N032", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_1363": { + "frame_idx": 1363, + "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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+ "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": 1109.5, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 30.3 + } +} diff --git a/N033/go2_arm/dr_off/seed_1051/check.json b/N033/go2_arm/dr_off/seed_1051/check.json new file mode 100644 index 0000000000000000000000000000000000000000..e62254e3211789d185575774f9a8855f874d3def --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1051/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 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(2802/2) = 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": "11.41 MB, 1401 frames at 25 fps, mean luma 107..142, 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": "24.79 MB, 1401 frames at 25 fps, mean luma 112..174, std 29, 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_1051/check.txt b/N033/go2_arm/dr_off/seed_1051/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..ebca324ac157cdaa44fc8328f86f6a52817dba5d --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1051/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_go2_off_1051/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_go2_off_1051/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(2802/2) = 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: 11.41 MB, 1401 frames at 25 fps, mean luma 107..142, 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: 24.79 MB, 1401 frames at 25 fps, mean luma 112..174, std 29, new picture 1400x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1401 vs 1401 +parquet size 4.85 MB +[PASS] sim_info present: rec/stationring/000/sim_info +dataset size 41.32 MB; whole cell dir 42.7 MB +RESULT: ALL PASS diff --git a/N033/go2_arm/dr_off/seed_1051/rec/stationring/000/completed/0.json b/N033/go2_arm/dr_off/seed_1051/rec/stationring/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..c24e4e92ce410caf19b3ef731d95205d50917856 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1051/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_1051/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/go2_arm/dr_off/seed_1051/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..bbbb8fd6a11415747a47e21e24d8f570f8dc6bea --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1051/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11c0bfdb6f07d2500458c25cc63991fa7e9a6b0b70c77bdf5ea7821388302176 +size 4845351 diff --git a/N033/go2_arm/dr_off/seed_1051/rec/stationring/000/lerobot_v21/meta/episodes.jsonl b/N033/go2_arm/dr_off/seed_1051/rec/stationring/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5fde1b2d4bc5a846b0c8b541f27e570d551b1e26 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1051/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": 2802, "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 left of the gray peg 1. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is 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_1051/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/go2_arm/dr_off/seed_1051/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8d8a21b693b17d7ae8cd7e6209694c32399391d0 --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1051/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.14369135850549894, 0.00021667972135275794, 0.0256405804162266, 0.35318875482982603, 0.3287003154013516, 0.4843912687601999, 0.6907417014358216, 0.16473571133456172, -0.5241510818933777, 0.7799332998719579, 0.1190629240695778, 0.4889364739471806], "std": [0.16419334277819733, 0.025557602707640664, 0.2632011580460271, 0.016052215107492707, 1.4963885534109296, 1.621654342575656, 0.03789126133812319, 0.049154219876499976, 0.22805640076427397, 0.12984039276700346, 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"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 to the left of the gray peg 1. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is 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": "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": 1.6354840987899086, + "support": null + }, + "generic_instruction": "Stationring the 1.6354840987899086.", + "task_id": "N033", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0581": { + "frame_idx": 581, + "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_0610": { + "frame_idx": 610, + "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_0888": { + "frame_idx": 888, + "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_0903": { + "frame_idx": 903, + "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_0904": { + "frame_idx": 904, + "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_0957": { + "frame_idx": 957, + "caption": "Grasping the small ring, moving the arm in to make contact; the right gripper is below and to the left of and in front 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", + "in_front_of" + ] + }, + "frame_1005": { + "frame_idx": 1005, + "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": "running", + "target": "ring_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1019": { + "frame_idx": 1019, + "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_1079": { + "frame_idx": 1079, + "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_1080": { + "frame_idx": 1080, + "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_1140": { + "frame_idx": 1140, + "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 a/N033/go2_arm/dr_off/seed_1051/rec/stationring/000/lerobot_v21/meta/info.json b/N033/go2_arm/dr_off/seed_1051/rec/stationring/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..2a5a07c751dee4ffe41338fbe92ca2549b0d33ba --- /dev/null +++ b/N033/go2_arm/dr_off/seed_1051/rec/stationring/000/lerobot_v21/meta/info.json @@ -0,0 +1,336 @@ +{ + "codebase_version": "v2.1", + "robot_type": "Go2PlusCfg", + "total_episodes": 1, + "total_frames": 1401, + "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": 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"other_rings_on_rod": [], + "manipulation_success": true + }, + "route": [ + "A", + "B" + ], + "total_path_m": 8.07, + "planner_seeds": "lean" + } + ], + "error": null, + "collect": { + "task": "N033", + "robot": "go2_arm", + "visual_dr": false, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N033", + "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": 988.2, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 26.1 + } +} diff --git a/N033/go2_arm/dr_on/seed_2054/check.json b/N033/go2_arm/dr_on/seed_2054/check.json new file mode 100644 index 0000000000000000000000000000000000000000..79b641e41800781d02d7c71e3d90b05eaa45765b --- /dev/null +++ b/N033/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: '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": "1394 rows vs ceil(2788/2) = 1394" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..2887, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "31.27 MB, 1394 frames at 25 fps, mean luma 70..124, std 37, new picture 1393x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1394 vs 1394" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "47.61 MB, 1394 frames at 25 fps, mean luma 67..147, std 34, new picture 1393x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1394 vs 1394" + }, + "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_2054/check.txt b/N033/go2_arm/dr_on/seed_2054/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..d43545836c5a28758cca96f6c2f38d3dabf98079 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2054/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n033_go2_on_2054/out task=N033 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n033_go2_on_2054/out/rec/stationring/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1394 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: 1394 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 1394 at dataset fps 25 = 55.76 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1394 rows vs ceil(2788/2) = 1394 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..2887, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 31.27 MB, 1394 frames at 25 fps, mean luma 70..124, std 37, new picture 1393x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1394 vs 1394 +[PASS] video observation.images.wrist decodes, 640x480, not black: 47.61 MB, 1394 frames at 25 fps, mean luma 67..147, std 34, new picture 1393x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1394 vs 1394 +parquet size 4.51 MB +[PASS] sim_info present: rec/stationring/000/sim_info +dataset size 83.65 MB; whole cell dir 85.0 MB +RESULT: ALL PASS diff --git a/N033/go2_arm/dr_on/seed_2054/rec/stationring/000/completed/0.json b/N033/go2_arm/dr_on/seed_2054/rec/stationring/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..c24e4e92ce410caf19b3ef731d95205d50917856 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2054/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_2054/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N033/go2_arm/dr_on/seed_2054/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..f211baf8ad459c90b3cb384b1046f269c0902ceb --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2054/rec/stationring/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:511b7dd876441eadd9b04232b1f242a20734844bb61a3d0bb05829682ba9a0ac +size 4506243 diff --git a/N033/go2_arm/dr_on/seed_2054/rec/stationring/000/lerobot_v21/meta/episodes.jsonl b/N033/go2_arm/dr_on/seed_2054/rec/stationring/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c6d454e5964b9ff6c2e9d70b3c19f263a66875a8 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2054/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": 1394, "magicsim/control_steps": 2788, "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 left of the gray peg 1. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is 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_2054/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl b/N033/go2_arm/dr_on/seed_2054/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e54631655a83f1bd02c7abbbd909c015ad78e4a0 --- /dev/null +++ b/N033/go2_arm/dr_on/seed_2054/rec/stationring/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.13684454309210245, 0.0013359272805773459, 0.027041711797612056, 0.3551524587435223, 0.3354929769505216, 0.8144245393403206, 0.7011744737026511, 0.10526398685326535, -0.5307342818346265, 0.811343269334462, 0.06837081586557255, 0.48493543758967], "std": [0.16361782135065664, 0.02512905394043899, 0.24081245268315588, 0.01805345821230812, 1.3880684643018348, 1.686420328009456, 0.04651105538324062, 0.010975365330015752, 0.18597974331892556, 0.09469815944463035, 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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 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": 1.4901675768746765, + "support": null + }, + "generic_instruction": "Stationring the 1.4901675768746765.", + "task_id": "N033", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0495": { + "frame_idx": 495, + "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, + 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"/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": 929.5, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 24.7 + } +} diff --git a/N034/sawyer_umi/dr_off/seed_1077/check.json b/N034/sawyer_umi/dr_off/seed_1077/check.json new file mode 100644 index 0000000000000000000000000000000000000000..0fc8f827b6effaa3f1591cecd619ceeede81bb91 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1077/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": "2236 rows vs ceil(4471/2) = 2236" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4571, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "24.94 MB, 2236 frames at 25 fps, mean luma 100..149, std 27, new picture 2235x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2236 vs 2236" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "39.38 MB, 2236 frames at 25 fps, mean luma 89..149, std 31, new picture 2235x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2236 vs 2236" + }, + "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_1077/check.txt b/N034/sawyer_umi/dr_off/seed_1077/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..39cab1962aa48c74786da67a6fb172d08f30fac8 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1077/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_saw_off_1077/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_saw_off_1077/out/rec/stationbookendxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2236 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: 2236 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 2236 at dataset fps 25 = 89.44 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2236 rows vs ceil(4471/2) = 2236 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4571, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 24.94 MB, 2236 frames at 25 fps, mean luma 100..149, std 27, new picture 2235x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2236 vs 2236 +[PASS] video observation.images.wrist decodes, 640x480, not black: 39.38 MB, 2236 frames at 25 fps, mean luma 89..149, std 31, new picture 2235x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2236 vs 2236 +parquet size 2.61 MB +[PASS] sim_info present: rec/stationbookendxr/000/sim_info +dataset size 67.13 MB; whole cell dir 68.4 MB +RESULT: ALL PASS diff --git a/N034/sawyer_umi/dr_off/seed_1077/rec/stationbookendxr/000/completed/0.json b/N034/sawyer_umi/dr_off/seed_1077/rec/stationbookendxr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2218f14552b5319a4951e60bfd54adf3df3cac5e --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1077/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_1077/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/sawyer_umi/dr_off/seed_1077/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..2faa57aad3eed269999b80e2d520246f6009b561 --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1077/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:f8e0ccc503362a97b62fe20b959abeddc6d5cd205c099f620bdf0e880d8d4382 +size 2614383 diff --git a/N034/sawyer_umi/dr_off/seed_1077/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl b/N034/sawyer_umi/dr_off/seed_1077/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c8c7cfb893771169bb6cead43e1007768d853c3c --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1077/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": 2236, "magicsim/control_steps": 4471, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the brown slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is in front of the brown slot left. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front-right, at table height."} diff --git a/N034/sawyer_umi/dr_off/seed_1077/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/sawyer_umi/dr_off/seed_1077/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dba1891e0161f5b147d18b452e9a925134264e2e --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1077/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.08440302605765716, -0.0006388448839357426, 0.007529429066186931, 0.6388927665280848, 0.984699583370805, 0.9345769281090905, 0.045448652610236076, -0.5465367431427504, 0.0913208790493326, 0.7280310891395392, 0.6153846153846154], "std": [0.13113633316650208, 0.021377917668027928, 0.17982826987219264, 1.3471295928822662, 1.7253466991897328, 0.2507463367874575, 0.2315121050376363, 0.22857793609524857, 0.18355706745133063, 0.14602807186704356, 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"plate_1", + "relation": "on_top_of", + "object": "bookend_1" + }, + { + "subject": "plate_1", + "relation": "left_of", + "object": "bookend_1" + }, + { + "subject": "bookend_1", + "relation": "right_of", + "object": "plate_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": [ + 3.7489943777715866, + -2.1219204046368705, + -0.09500011694717016 + ], + "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": [ + 3.6641733672133974, + -1.9900430517746157, + -0.020000112142097775 + ], + "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": [ + -3.4, + -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 brown slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is in front of the brown slot left. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front-right, 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": 1.4694066081505397, + "support": null + }, + "generic_instruction": "Stationbookendxr the 1.4694066081505397.", + "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_1077/rec/stationbookendxr/000/lerobot_v21/meta/info.json b/N034/sawyer_umi/dr_off/seed_1077/rec/stationbookendxr/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..a3c7f1ffba021e8ecf007c12725dac54bb5bdfdd --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1077/rec/stationbookendxr/000/lerobot_v21/meta/info.json @@ -0,0 +1,296 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 2236, + "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": [ + 49 + ], + "names": [ + "object_pose.book.0", + "object_pose.book.1", + "object_pose.book.2", + "object_pose.book.3", + "object_pose.book.4", + "object_pose.book.5", + "object_pose.book.6", + "object_pose.bookend.0", + "object_pose.bookend.1", + "object_pose.bookend.2", + "object_pose.bookend.3", + "object_pose.bookend.4", + "object_pose.bookend.5", + "object_pose.bookend.6", + "object_pose.plate.0", + "object_pose.plate.1", + "object_pose.plate.2", + "object_pose.plate.3", + "object_pose.plate.4", + "object_pose.plate.5", + "object_pose.plate.6", + "object_pose.slot_left.0", + "object_pose.slot_left.1", + "object_pose.slot_left.2", + "object_pose.slot_left.3", + "object_pose.slot_left.4", + "object_pose.slot_left.5", + "object_pose.slot_left.6", + "object_pose.slot_right.0", + "object_pose.slot_right.1", + "object_pose.slot_right.2", + "object_pose.slot_right.3", + "object_pose.slot_right.4", + "object_pose.slot_right.5", + "object_pose.slot_right.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": [ + 880 + ], + "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", + "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/N034/sawyer_umi/dr_off/seed_1077/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json b/N034/sawyer_umi/dr_off/seed_1077/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..22127e258409e01a297100813f9f3077dc88b74b --- /dev/null +++ b/N034/sawyer_umi/dr_off/seed_1077/rec/stationbookendxr/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 11:32:05" + }, + "embodiment": { + "robots": [ + { + "name": "RidgebackSawyerUmi", + "cfg": "RidgebackSawyerUmiCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "RidgebackSawyerUmi.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HolonomicAction", + "names_source": "_joint_names" + }, + { + "name": "RidgebackSawyerUmi.arm_action", + "start": 3, + "end": 10, + "names": [ + "frame0.pos_x", + "frame0.pos_y", + "frame0.pos_z", + "frame0.quat_w", + "frame0.quat_x", + "frame0.quat_y", + "frame0.quat_z" + ], + "source": "PinkInverseKinematicsAction", + "names_source": "pink_layout" + }, + { + "name": "RidgebackSawyerUmi.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_pos", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "right_gripper_r_finger_joint" + ], + "source": "ObservationManager", + "names_source": "joint_names" + }, + { + "name": "RidgebackSawyerUmi.gripper_pos", + "start": 13, + "end": 15, + "names": [ + "gripper_0", + "gripper_1" + ], + "source": "ObservationManager", + "names_source": "generated" + } + ] + }, + "joint_vel_layout": { + "dim": 13, + "segments": [ + { + "name": "RidgebackSawyerUmi.joint_vel", + "start": 0, + "end": 13, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "right_j0", + "head_pan", + "right_j1", + "right_j2", + "right_j3", + "right_j4", + "right_j5", + "right_j6", + "right_gripper_l_finger_joint", + "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": 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"/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": 1100.3, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 26.4 + } +} diff --git a/N034/sawyer_umi/dr_on/seed_2068/check.json b/N034/sawyer_umi/dr_on/seed_2068/check.json new file mode 100644 index 0000000000000000000000000000000000000000..e0548ea7c8ef703a4df5423d05e414fcdff146eb --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2068/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": "3037 rows vs ceil(6073/2) = 3037" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..6173, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "59.12 MB, 3037 frames at 25 fps, mean luma 85..135, std 30, new picture 3036x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "3037 vs 3037" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "57.00 MB, 3037 frames at 25 fps, mean luma 87..137, std 26, new picture 3036x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "3037 vs 3037" + }, + "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_2068/check.txt b/N034/sawyer_umi/dr_on/seed_2068/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..4567d95c8896596a0406eb980123152ccbfa6c7c --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2068/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_saw_on_2068/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_saw_on_2068/out/rec/stationbookendxr/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 3037 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: 3037 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 3037 at dataset fps 25 = 121.48 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3037 rows vs ceil(6073/2) = 3037 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..6173, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 59.12 MB, 3037 frames at 25 fps, mean luma 85..135, std 30, new picture 3036x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 3037 vs 3037 +[PASS] video observation.images.wrist decodes, 640x480, not black: 57.00 MB, 3037 frames at 25 fps, mean luma 87..137, std 26, new picture 3036x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 3037 vs 3037 +parquet size 2.82 MB +[PASS] sim_info present: rec/stationbookendxr/000/sim_info +dataset size 119.13 MB; whole cell dir 120.6 MB +RESULT: ALL PASS diff --git a/N034/sawyer_umi/dr_on/seed_2068/rec/stationbookendxr/000/completed/0.json b/N034/sawyer_umi/dr_on/seed_2068/rec/stationbookendxr/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..2218f14552b5319a4951e60bfd54adf3df3cac5e --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2068/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_2068/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/sawyer_umi/dr_on/seed_2068/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..2448aaaed653cf5553d9a3ab7f4bc26a5737fe69 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2068/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6da1b792dd34f52a303c7d27309177d67f14b08fb5faa1a00469a4a8f2250e18 +size 2821584 diff --git a/N034/sawyer_umi/dr_on/seed_2068/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl b/N034/sawyer_umi/dr_on/seed_2068/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..fad416c755cd64f9b2a95deb9f642f1df626b4c9 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2068/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": 3037, "magicsim/control_steps": 6073, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the brown slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot left. The gray table B is to the left of the bookend. The brown slot left is behind the brown slot right. The brown slot right is in front of the brown slot left. The red book is on top of the brown slot right. The gray plate is behind the bookend. The bookend is in front of the gray plate. The scene is viewed from front, at table height."} diff --git a/N034/sawyer_umi/dr_on/seed_2068/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/sawyer_umi/dr_on/seed_2068/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..24258ecb53eb9224e6327f66a8b187211590f7e1 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2068/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.06056453546605438, -0.00014019067465748724, 0.008558491884008115, 0.7805541099113856, 1.221645938153423, 0.904301630163177, 0.021323504989563032, -0.04735550838579345, 0.023026873278811467, 0.13532540746276064, 0.6193612117220941], "std": [0.1174714066083444, 0.011241191652098024, 0.1332960453681661, 1.2588331956308363, 1.6490465293986534, 0.24451436895387918, 0.28781115486814773, 0.6166696862877051, 0.1985167505896903, 0.689879520854046, 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There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot left. The gray table B is to the left of the bookend. The brown slot left is behind the brown slot right. The brown slot right is in front of the brown slot left. The red book is on top of the brown slot right. The gray plate is behind the bookend. The bookend is in front of the gray plate. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n[[bookend]\n\n\n\n [slo[book]t]\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": 1.7085721315543099, + "support": null + }, + "generic_instruction": "Stationbookendxr the 1.7085721315543099.", + "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_2068/rec/stationbookendxr/000/lerobot_v21/meta/info.json b/N034/sawyer_umi/dr_on/seed_2068/rec/stationbookendxr/000/lerobot_v21/meta/info.json new file 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a/N034/sawyer_umi/dr_on/seed_2068/rec/stationbookendxr/000/sim_info/0/sim_states.npz b/N034/sawyer_umi/dr_on/seed_2068/rec/stationbookendxr/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..08e560b07e223394d853303fc60b7f4035a88f0b --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2068/rec/stationbookendxr/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bbb45965e217b8c04eb6e4dd78a6e5da9f78880004335004c52b7909ec79ee95 +size 763987 diff --git a/N034/sawyer_umi/dr_on/seed_2068/rec/stationbookendxr/000/sim_info/magicsim_manifest.json b/N034/sawyer_umi/dr_on/seed_2068/rec/stationbookendxr/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..79435e2cc5cbc4e98f39d378274266e1e778fa61 --- /dev/null +++ b/N034/sawyer_umi/dr_on/seed_2068/rec/stationbookendxr/000/sim_info/magicsim_manifest.json @@ -0,0 +1,233 @@ +{ + "schema_version": 1, + 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+ "B" + ], + "total_path_m": 7.39, + "planner_seeds": "default" + } + ], + "error": null, + "collect": { + "task": "N034", + "robot": "sawyer_umi", + "visual_dr": true, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N034", + "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 + } + } + }, + "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": 1190.0, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 55.3 + } +} diff --git a/N034/stretch3/dr_off/seed_1186/check.json b/N034/stretch3/dr_off/seed_1186/check.json new file mode 100644 index 0000000000000000000000000000000000000000..387c8edc40a02b951617d2193b69ca1661c7859a --- /dev/null +++ b/N034/stretch3/dr_off/seed_1186/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2603 rows vs ceil(5205/2) = 2603" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5305, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "25.42 MB, 2603 frames at 25 fps, mean luma 112..156, std 12, new picture 2602x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2603 vs 2603" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "50.60 MB, 2603 frames at 25 fps, mean luma 118..168, std 27, new picture 2602x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2603 vs 2603" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookendstretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/stretch3/dr_off/seed_1186/check.txt b/N034/stretch3/dr_off/seed_1186/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..55efaa409b497665400555ef0504b3ec1237b073 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1186/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_str_off_1186_r1/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_str_off_1186_r1/out/rec/stationbookendstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2603 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: 2603 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] +[PASS] task text = MobileBench instruction: task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 2603 at dataset fps 25 = 104.12 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2603 rows vs ceil(5205/2) = 2603 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5305, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 25.42 MB, 2603 frames at 25 fps, mean luma 112..156, std 12, new picture 2602x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2603 vs 2603 +[PASS] video observation.images.wrist decodes, 640x480, not black: 50.60 MB, 2603 frames at 25 fps, mean luma 118..168, std 27, new picture 2602x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2603 vs 2603 +parquet size 3.40 MB +[PASS] sim_info present: rec/stationbookendstretch/000/sim_info +dataset size 79.64 MB; whole cell dir 81.2 MB +RESULT: ALL PASS diff --git a/N034/stretch3/dr_off/seed_1186/rec/stationbookendstretch/000/completed/0.json b/N034/stretch3/dr_off/seed_1186/rec/stationbookendstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..565ef5f65941ce16df1aafe3e0687de9fab4723e --- /dev/null +++ b/N034/stretch3/dr_off/seed_1186/rec/stationbookendstretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookendstretch/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/stretch3/dr_off/seed_1186/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/stretch3/dr_off/seed_1186/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..b116d10077f76db5e7dbd131ceb2c457571fbcc0 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1186/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:741d828cbaf309e0b099d7c9be9b4ad1d3bc5b421c87773c1e1ab6543471eb08 +size 3404730 diff --git a/N034/stretch3/dr_off/seed_1186/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl b/N034/stretch3/dr_off/seed_1186/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..dbec8df7ba124fd6f7f44c67a6424450668f684b --- /dev/null +++ b/N034/stretch3/dr_off/seed_1186/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 2603, "magicsim/control_steps": 5205, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, slightly above table height."} diff --git a/N034/stretch3/dr_off/seed_1186/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/stretch3/dr_off/seed_1186/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..d0fc6b115c0c7969ddd486455ad3b49462661980 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1186/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.008709957219926477, 0.0, 0.024890378093231746, 0.7423532792351656, 1.2564942356409405, 0.6708537147702779, -0.24602179313983727, -0.01012244606619903, -0.10491612901904443, -0.04083689229950721, 0.6530925854782943], "std": [0.14251125797689745, 0.0, 0.14777901852059827, 1.2392623990830052, 1.8138959586687309, 0.17189952280177756, 0.552547791208967, 0.4103303642493426, 0.4296900819892862, 0.5180559139845556, 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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 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, slightly above 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": "StationBookendStretch", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 3.0973715193947973, + "support": null + }, + "generic_instruction": "Stationbookendstretch the 3.0973715193947973.", + "task_id": "N034", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N034/stretch3/dr_off/seed_1186/rec/stationbookendstretch/000/lerobot_v21/meta/info.json b/N034/stretch3/dr_off/seed_1186/rec/stationbookendstretch/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..a0c636d0eeff32deda42de2374f99d17bbe65ff9 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1186/rec/stationbookendstretch/000/lerobot_v21/meta/info.json @@ -0,0 +1,298 @@ +{ + "codebase_version": "v2.1", + "robot_type": "HelloRobotCfg", + "total_episodes": 1, + "total_frames": 2603, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "arm_action_0", + "arm_action_1", + "arm_action_2", + "arm_action_3", + "arm_action_4", + "arm_action_5", + "arm_action_6", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 11 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 15 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 15 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 49 + ], + "names": [ + "object_pose.book.0", + "object_pose.book.1", + "object_pose.book.2", + "object_pose.book.3", + "object_pose.book.4", + "object_pose.book.5", + "object_pose.book.6", + "object_pose.bookend.0", + "object_pose.bookend.1", + "object_pose.bookend.2", + "object_pose.bookend.3", + "object_pose.bookend.4", + "object_pose.bookend.5", + "object_pose.bookend.6", + "object_pose.plate.0", + "object_pose.plate.1", + "object_pose.plate.2", + "object_pose.plate.3", + "object_pose.plate.4", + "object_pose.plate.5", + "object_pose.plate.6", + "object_pose.slot_left.0", + "object_pose.slot_left.1", + "object_pose.slot_left.2", + "object_pose.slot_left.3", + "object_pose.slot_left.4", + "object_pose.slot_left.5", + 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"video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N034/stretch3/dr_off/seed_1186/rec/stationbookendstretch/000/lerobot_v21/meta/magicsim_manifest.json b/N034/stretch3/dr_off/seed_1186/rec/stationbookendstretch/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..01eb7b487a62d2105f1811ee30a84791c0a74f25 --- /dev/null +++ b/N034/stretch3/dr_off/seed_1186/rec/stationbookendstretch/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 11:33:35" + }, + "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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sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "HelloRobot.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HelloRobotBaseAction", + "names_source": "_joint_names" + }, + { + "name": "HelloRobot.arm_action", + "start": 3, + "end": 10, + "names": [ + "arm_action_0", + "arm_action_1", + "arm_action_2", + "arm_action_3", + "arm_action_4", + "arm_action_5", + "arm_action_6" + ], + "source": "HelloRobotIKAction", + "names_source": "fallback" + }, + { + "name": "HelloRobot.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": [ + { + "name": "HelloRobot.joint_pos", + "start": 0, + "end": 15, + "names": [ + "dummy_base_prismatic_x_joint", + 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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": 1279.7, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 38.5 + } +} diff --git a/N034/stretch3/dr_on/seed_2130/check.json b/N034/stretch3/dr_on/seed_2130/check.json new file mode 100644 index 0000000000000000000000000000000000000000..b91e71a5e9518f06838821182d882b900b0289c2 --- /dev/null +++ b/N034/stretch3/dr_on/seed_2130/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2616 rows vs ceil(5231/2) = 2616" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..5331, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "61.02 MB, 2616 frames at 25 fps, mean luma 105..142, std 10, new picture 2615x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2616 vs 2616" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "59.96 MB, 2616 frames at 25 fps, mean luma 67..143, std 24, new picture 2615x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2616 vs 2616" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookendstretch/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/stretch3/dr_on/seed_2130/check.txt b/N034/stretch3/dr_on/seed_2130/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..d97e52e45eaf5b7aa1235f66963088488261f848 --- /dev/null +++ b/N034/stretch3/dr_on/seed_2130/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_str_on_2130/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_str_on_2130/out/rec/stationbookendstretch/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2616 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: 2616 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2'] +[PASS] task text = MobileBench instruction: task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.' +rows 2616 at dataset fps 25 = 104.64 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2616 rows vs ceil(5231/2) = 2616 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5331, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 61.02 MB, 2616 frames at 25 fps, mean luma 105..142, std 10, new picture 2615x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2616 vs 2616 +[PASS] video observation.images.wrist decodes, 640x480, not black: 59.96 MB, 2616 frames at 25 fps, mean luma 67..143, std 24, new picture 2615x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2616 vs 2616 +parquet size 3.43 MB +[PASS] sim_info present: rec/stationbookendstretch/000/sim_info +dataset size 124.63 MB; whole cell dir 126.2 MB +RESULT: ALL PASS diff --git a/N034/stretch3/dr_on/seed_2130/rec/stationbookendstretch/000/completed/0.json b/N034/stretch3/dr_on/seed_2130/rec/stationbookendstretch/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..565ef5f65941ce16df1aafe3e0687de9fab4723e --- /dev/null +++ b/N034/stretch3/dr_on/seed_2130/rec/stationbookendstretch/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookendstretch/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N034/stretch3/dr_on/seed_2130/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/stretch3/dr_on/seed_2130/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..37805e0fbff27c1ae1153937bdd4e17bea1953e1 --- /dev/null +++ b/N034/stretch3/dr_on/seed_2130/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0707201db60ca6e1e8adfaacfcd3ba813d98bf84a4e502b818f9882d940ea2a +size 3433886 diff --git a/N034/stretch3/dr_on/seed_2130/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl b/N034/stretch3/dr_on/seed_2130/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..8fbf712ad613126c7fb88b069b1a7d6712b8f5cd --- /dev/null +++ b/N034/stretch3/dr_on/seed_2130/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 2616, "magicsim/control_steps": 5231, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front-right, slightly above table height."} diff --git a/N034/stretch3/dr_on/seed_2130/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/stretch3/dr_on/seed_2130/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..32739e45a3271e7d63db42e7944666bcecc670ab --- /dev/null +++ b/N034/stretch3/dr_on/seed_2130/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [-0.013350015052591396, 0.0, -0.03966883895714021, 0.7362790380174505, 1.4105999706204786, 0.6689812528932131, -0.29757619104476285, 0.025925632153394884, -0.1565988514838135, -0.03912464899347341, 0.6853975535168195], "std": [0.14173419743189247, 0.0, 0.1879853821998291, 1.2637482206246362, 1.8823423533551098, 0.18104200372087945, 0.5297127884553352, 0.4136113601074777, 0.4171963580550871, 0.5089198679824684, 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"mobilemanip", + "noun": "Hello Robot Stretch 3 mobile manipulator", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -3.4, + -2.2, + 0.06 + ], + "ori": [ + 0.9396926164627075, + 0.0, + 0.0, + 0.3420201539993286 + ] + }, + "facing_yaw_deg": 40.000001288448495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1000.0, + "ambient": "dim" + }, + "effects": [], + "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown slot right. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. The gray plate is on top of the bookend. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front-right, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [bookend]\n\n\n\n\n [slot [book]\n\n\n[robot]" + }, + "task": { + "task_type": "StationBookendStretch", + "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.", + "template_id": -1, + "slots": { + "obj": 3.148504808642728, + "support": null + }, + "generic_instruction": "Stationbookendstretch the 3.148504808642728.", + "task_id": "N034", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": true, + "truncated": false +} \ No newline at end of file diff --git a/N034/stretch3/dr_on/seed_2130/rec/stationbookendstretch/000/lerobot_v21/meta/info.json b/N034/stretch3/dr_on/seed_2130/rec/stationbookendstretch/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..7c301a464be9717d0b3cea8da1be992e7484fd88 --- /dev/null +++ b/N034/stretch3/dr_on/seed_2130/rec/stationbookendstretch/000/lerobot_v21/meta/info.json @@ -0,0 +1,298 @@ +{ + "codebase_version": "v2.1", + "robot_type": "HelloRobotCfg", + "total_episodes": 1, + "total_frames": 2616, + "total_tasks": 1, + "total_videos": 2, + "total_chunks": 1, + "chunks_size": 1000, + "fps": 25, + "splits": { + "train": "0:1" + }, + "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", + "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", + "features": { + "action": { + "dtype": "float32", + "shape": [ + 11 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "arm_action_0", + "arm_action_1", + "arm_action_2", + "arm_action_3", + "arm_action_4", + "arm_action_5", + "arm_action_6", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + "shape": [ + 11 + ], + "names": null + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 15 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + }, + "observation.joint_vel": { + "dtype": "float32", + "shape": [ + 15 + ], + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + }, + "observation.eef_pose": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation.environment_state": { + "dtype": "float32", + "shape": [ + 49 + ], + "names": [ + "object_pose.book.0", + "object_pose.book.1", + "object_pose.book.2", + "object_pose.book.3", + "object_pose.book.4", + "object_pose.book.5", + "object_pose.book.6", + "object_pose.bookend.0", + "object_pose.bookend.1", + "object_pose.bookend.2", + "object_pose.bookend.3", + "object_pose.bookend.4", + "object_pose.bookend.5", + "object_pose.bookend.6", + "object_pose.plate.0", + "object_pose.plate.1", + "object_pose.plate.2", + "object_pose.plate.3", + "object_pose.plate.4", + "object_pose.plate.5", + "object_pose.plate.6", + "object_pose.slot_left.0", + "object_pose.slot_left.1", + "object_pose.slot_left.2", + "object_pose.slot_left.3", + "object_pose.slot_left.4", + "object_pose.slot_left.5", + 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"video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + }, + "observation.images.wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channels" + ], + "info": { + "video.fps": 25, + "video.codec": "libsvtav1", + "video.pix_fmt": "yuv420p", + "video.is_depth_map": false, + "video.height": 480, + "video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N034/stretch3/dr_on/seed_2130/rec/stationbookendstretch/000/lerobot_v21/meta/magicsim_manifest.json b/N034/stretch3/dr_on/seed_2130/rec/stationbookendstretch/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..b178134c3a7ab02708d8a48ee3580337e53eea30 --- /dev/null +++ b/N034/stretch3/dr_on/seed_2130/rec/stationbookendstretch/000/lerobot_v21/meta/magicsim_manifest.json @@ 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0.0, + "bookend": -0.0001 + }, + "pushed": true, + "released": true, + "at_rest": true, + "manipulation_success": true + }, + "route": [ + "A", + "B" + ], + "total_path_m": 7.56, + "planner_seeds": "default" + } + ], + "error": null, + "collect": { + "task": "N034", + "robot": "stretch3", + "visual_dr": true, + "env": { + "MMB_COLLECT": "1", + "MMB_TASK_ID": "N034", + "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": 1365.9, + "record_drain": { + "drain_ok": true, + "committed": 1, + "save_errors": {}, + "drain_s": 43.7 + } +} diff --git a/N058/go2_arm/dr_off/seed_3031/data/config_resolved.yaml b/N058/go2_arm/dr_off/seed_3031/data/config_resolved.yaml new file mode 100644 index 0000000000000000000000000000000000000000..ac4a8a318af273c3b8607086b4577589c02ff3f9 --- /dev/null +++ b/N058/go2_arm/dr_off/seed_3031/data/config_resolved.yaml @@ -0,0 +1,922 @@ +env: + sim: + seed: 3031 + device: cpu + use_fabric: false + decimation: 4 + dt: 0.005 + soft_resets: 2 + enable_scene_query_support: true + 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 + 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: + - 1500 + - 1500 + objects: + table_a: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - -1.5 + - 2.4 + - 0.18 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 1.0 + - 0.6 + - 0.3 + table_a_1: + primitive_params: + size: + - 1.0 + - 1.0 + - 1.0 + visual: + color: + - 0.55 + - 0.42 + - 0.3 + physics: + type: geometry + collision: true + table_b: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - 1.9 + - 2.4 + - 0.18 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 1.0 + - 0.6 + - 0.3 + table_b_1: + primitive_params: + size: + - 1.0 + - 1.0 + - 1.0 + visual: + color: + - 0.55 + - 0.42 + - 0.3 + physics: + type: geometry + collision: true + partition: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - 0.2 + - 2.55 + - 0.78 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.08 + - 2.3 + - 1.5 + partition_1: + primitive_params: + size: + - 1.0 + - 1.0 + - 1.0 + visual: + color: + - 0.8 + - 0.8 + - 0.84 + physics: + type: geometry + collision: true + pad_L: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - -1.66 + - 2.24 + - 0.33999999999999997 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.1 + - 0.1 + - 0.02 + pad_L_1: + primitive_params: + size: + - 1.0 + - 1.0 + - 1.0 + visual: + color: + - 0.42 + - 0.44 + - 0.5 + physics: + type: geometry + collision: true + lit_L: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - -1.66 + - 2.24 + - 0.352 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.10400000000000001 + - 0.10400000000000001 + - 0.004 + lit_L_1: + primitive_params: + size: + - 1.0 + - 1.0 + - 1.0 + visual: + color: + - 1.0 + - 0.85 + - 0.15 + physics: + type: geometry + collision: false + pad_R: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - -1.34 + - 2.24 + - 0.33999999999999997 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.1 + - 0.1 + - 0.02 + pad_R_1: + primitive_params: + size: + - 1.0 + - 1.0 + - 1.0 + visual: + color: + - 0.42 + - 0.44 + - 0.5 + physics: + type: geometry + collision: true + lit_R: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - -1.34 + - 2.24 + - 0.352 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.10400000000000001 + - 0.10400000000000001 + - 0.004 + lit_R_1: + primitive_params: + size: + - 1.0 + - 1.0 + - 1.0 + visual: + color: + - 1.0 + - 0.85 + - 0.15 + physics: + type: geometry + collision: false + rack_b_post0: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - 1.815 + - 2.22 + - 0.355 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.03 + - 0.05 + - 0.05 + rack_b_post0_1: + primitive_params: + size: + - 1.0 + - 1.0 + - 1.0 + visual: + color: + - 0.35 + - 0.35 + - 0.38 + physics: + type: geometry + collision: true + rack_b_post1: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - 1.95 + - 2.22 + - 0.355 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.03 + - 0.05 + - 0.05 + rack_b_post1_1: + primitive_params: + size: + - 1.0 + - 1.0 + - 1.0 + visual: + color: + - 0.35 + - 0.35 + - 0.38 + physics: + type: geometry + collision: true + tapper: + usd: + - $MAGICSIM_ASSETS/StationMemory/sm_tapper + random: false + num_per_env: 1 + common: + scale: + - 1.0 + - 1.0 + - 1.0 + pos: + - - 1.9 + - 2.22 + - 0.39649999999999996 + - - 1.9 + - 2.22 + - 0.39649999999999996 + ori: + - - 0.0 + - 0.0 + - 0.0 + - - 0.0 + - 0.0 + - 0.0 + tapper_1: + physics: + type: rigid + collision: true + mass: 0.12 + physics_material: + static_friction: 1.5 + dynamic_friction: 1.5 + restitution: 0.0 + nav: + navmesh: + min_agent_radius_cm: 30.0 + max_agent_radius_cm: 30.0 + validate_path_clearance: true + validate_path_window: true + validate_path_reroute: true + enabled: true + visualize: false + bake_timeout_s: 180 + agent_height_cm: 65 + max_step_height_cm: 20 + max_floor_slope_deg: 30 + agent_island_radius_cm: 5 + auto_exclude_rigid_bodies: true + navmesh_offset_z_m: 0 + verbose: false + occupancymap: + cell_size: 0.05 + robot: + Go2Plus: + name: go2plus + type: mobilemanip + common: + pos: + - - -3.1 + - -2.1 + - 0.42 + - - -2.9 + - -1.9 + - 0.42 + ori: + - - 0.0 + - 0.0 + - 19.999999999999996 + - - 0.0 + - 0.0 + - 40.0 + 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_max_goalset: 128 + 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: 8 + num_ik_seeds: 64 + 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 + anim: + avatar: + graph: magic + Person: + usd: + - $MAGICSIM_ASSETS/Avatar/Medical/F_Medical_01/F_Medical_01.usd + num_per_env: 1 + random: false + common: + pos: + - -1.5 + - 3.35 + - 0.03 + ori: + - 0.0 + - 0.0 + - 0.0 + body_collision: + representation: bone_rigid + friction: 1.0 + restitution: 0.15 +task: + observation: {} + reward: {} + termination: + timeout_steps: 30000 + success_hold_frames: 1 + task_version: EXT60-MobileAvatar-v3 + agent_id: a12 + primary_category: C6 + embodiment: go2_arm + execution_mode: collect_chain + level: easy + scene_seed: 3031 + layout: + floor_z: 0.03 + room: + x: + - -3.7 + - 3.7 + 'y': + - -2.55 + - 4.05 + S: + x: -3.0 + 'y': -2.0 + yaw_deg: 30.0 + boxes: + table_a: + cx: -1.5 + cy: 2.4 + sx: 1.0 + sy: 0.6 + height: 0.3 + table_b: + cx: 1.9 + cy: 2.4 + sx: 1.0 + sy: 0.6 + height: 0.3 + partition: + cx: 0.2 + cy: 2.55 + sx: 0.08 + sy: 2.3 + height: 1.5 + stations: + A: + table: table_a + outward: + - 0.0 + - -1.0 + B: + table: table_b + outward: + - 0.0 + - -1.0 + stand: + standoff: 0.38 + stretch: {} + spawn_z: 0.42 + stage_retries: 2 + task_id: N058 + draw_kind: order + cue_min_fraction: 1.0 + order: + station: A + pads: + L: + t: -0.16 + depth: 0.14 + R: + t: 0.16 + depth: 0.14 + pad_size: 0.1 + pad_height: 0.02 + flash_s: 1.2 + lead_s: 0.8 + gap_range: + - 0.5 + - 1.2 + pad_legible_size: 0.05 + cue_hold_s: 3.0 + arrive_radius: 0.3 + arrive_yaw: 0.35 + arrive_ticks: 200 + touch_below: 0.01 + touch_above: 0.008 + touch_release_ticks: 3 + avatar: + lower_s: 1.0 + body_radius: 0.25 + robot_radius: 0.3 + contact_clearance: 0.05 + rest_travel_tol: 0.05 + observe: + standoff: 0.42 + dx_jitter: 0.0 + yaw_jitter_deg: 0.0 + spawn_jitter: + x: 0.1 + 'y': 0.1 + yaw_deg: 10.0 + racks: + rack_b: + station: B + t: 0.0 + depth: 0.12 + axis: t + offsets: + - -0.085 + - 0.05 + height: 0.05 + size: + - 0.03 + - 0.05 + items: + tapper: + usd: $MAGICSIM_ASSETS/StationMemory/sm_tapper + station: B + t: 0.0 + depth: 0.12 + z: 0.0665 + yaw_deg: 0 + physics: + type: rigid + collision: true + mass: 0.12 + physics_material: + static_friction: 1.5 + dynamic_friction: 1.5 + restitution: 0.0 + draw: + sequence: + - L + - R + starts: + - 0.8 + - 2.5 + flash_s: 1.2 + extra_boxes: + pad_L: + centre: + - -1.66 + - 2.24 + - 0.33999999999999997 + size: + - 0.1 + - 0.1 + - 0.02 + color: + - 0.42 + - 0.44 + - 0.5 + collision: true + lit_L: + centre: + - -1.66 + - 2.24 + - 0.352 + size: + - 0.10400000000000001 + - 0.10400000000000001 + - 0.004 + color: + - 1.0 + - 0.85 + - 0.15 + collision: false + pad_R: + centre: + - -1.34 + - 2.24 + - 0.33999999999999997 + size: + - 0.1 + - 0.1 + - 0.02 + color: + - 0.42 + - 0.44 + - 0.5 + collision: true + lit_R: + centre: + - -1.34 + - 2.24 + - 0.352 + size: + - 0.10400000000000001 + - 0.10400000000000001 + - 0.004 + color: + - 1.0 + - 0.85 + - 0.15 + collision: false +collect: + auto_collect: + task_type: station + max_trajectories: 1 + record: + output_dir: /mnt/scratch/xc536_atomic/n058_go2_off_3031/out/data/record + formats: + - lerobot_v21 + - sim_info + clear_buffer_on_failure: true + lerobot: + subsample_every: 2 + global_planner: + NavTo: + carry_arm: true + use_navmesh: true + use_absolute: true + translation_threshold: 0.2 + rotation_threshold: 0.3 + num_path_segments: 30 + start_forward_offset: 0.0 + visualize_path: false + MoveL: + translation_threshold: 0.003 + rotation_threshold: 0.2 + motiongen_distance_threshold: 0.2 + timeout_steps: 50 + debug: false + MobileMoveL: + translation_threshold: 0.006 + rotation_threshold: 0.2 + motiongen_distance_threshold: 0.05 + timeout_steps: 1500 + stall_release_ticks: 100 + stall_release_factor: 5.0 + 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 + retry_mobile_on_locked_plan_failure: true + ParallelGripper: + gripper_threshold: 0.0005 + timeout_steps: 60 + atomic_skill: + NavToPose: + robot_id: 0 + position_threshold: 0.12 + angle_threshold: 0.3 + show_marker: false + Move: + arm_planner: MobileMoveL + hand_planner: ParallelGripper + hold_steps: 10 + obstacle_avoid_paths: + - dynamic + obstacle_ignore_paths: [] + close_value: 1.0 + open_value: 0.0 + command: + OrderTapGo2: + robot_id: 0 + hand_id: 0 + init_limit: 90 + max_attempt: 2 + observe_timeout: 1500 + dark_ticks: 110 + above: 0.06 + near: 0.025 + touch_clear: 0.002 + grasp_dx: -0.02 + stage_retries: 2 + tap_extra: 0.04 + tilt_deg: 0.0 + look_pitch_deg: 30.0 + look_distance: 0.55 +env_string: TemporalOrderEnvGo2-V0 +check: + command: OrderTapGo2 +levels: + easy: + task: + spawn_jitter: + x: 0.1 + 'y': 0.1 + yaw_deg: 10.0 + medium: + task: + spawn_jitter: + x: 0.2 + 'y': 0.2 + yaw_deg: 15.0 + hard: + task: + spawn_jitter: + x: 0.3 + 'y': 0.3 + yaw_deg: 20.0 + observe: + standoff: 0.42 + dx_jitter: 0.2 + yaw_jitter_deg: 8.0 +visual_dr: + keep: + - lit_L + - lit_R + - pad_L + - pad_R + - Person diff --git a/N058/go2_arm/dr_off/seed_3031/data/frames/episode0_end.png b/N058/go2_arm/dr_off/seed_3031/data/frames/episode0_end.png new file mode 100644 index 0000000000000000000000000000000000000000..3bcbd4e2dcd4130cdafc570e3300d71c01694d91 --- /dev/null +++ b/N058/go2_arm/dr_off/seed_3031/data/frames/episode0_end.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:51f0a75b01eb5b18e409bb0b52cc88437a5a726cbef79eeecd3b6ceeb6649bc2 +size 456593 diff --git a/N058/go2_arm/dr_off/seed_3031/data/record/check.json b/N058/go2_arm/dr_off/seed_3031/data/record/check.json new file mode 100644 index 0000000000000000000000000000000000000000..602dd509c89777ecb14bb18e99ef5d5d6327bfac --- /dev/null +++ b/N058/go2_arm/dr_off/seed_3031/data/record/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: 'Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order.'; expected 'Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2128 rows vs ceil(4256/2) = 2128" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 91..4345, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "28.95 MB, 2128 frames at 25 fps, mean luma 89..147, std 29, new picture 2127x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2128 vs 2128" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "36.12 MB, 2128 frames at 25 fps, mean luma 100..144, std 30, new picture 2127x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2128 vs 2128" + }, + "sim_info present": { + "pass": true, + "detail": "ordertapgo2/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N058/go2_arm/dr_off/seed_3031/data/record/check.txt b/N058/go2_arm/dr_off/seed_3031/data/record/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..4b5da049998f7ff8566601fd53f1d853c5fb75fc --- /dev/null +++ b/N058/go2_arm/dr_off/seed_3031/data/record/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n058_go2_off_3031/out/data/record task=N058 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n058_go2_off_3031/out/data/record/ordertapgo2/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2128 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: 2128 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: 'Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order.'; expected 'Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order.' +rows 2128 at dataset fps 25 = 85.12 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2128 rows vs ceil(4256/2) = 2128 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 91..4345, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 28.95 MB, 2128 frames at 25 fps, mean luma 89..147, std 29, new picture 2127x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2128 vs 2128 +[PASS] video observation.images.wrist decodes, 640x480, not black: 36.12 MB, 2128 frames at 25 fps, mean luma 100..144, std 30, new picture 2127x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2128 vs 2128 +parquet size 4.99 MB +[PASS] sim_info present: ordertapgo2/000/sim_info +dataset size 70.49 MB; whole cell dir 72.9 MB +RESULT: ALL PASS diff --git a/N058/go2_arm/dr_off/seed_3031/data/record/ordertapgo2/000/completed/0.json b/N058/go2_arm/dr_off/seed_3031/data/record/ordertapgo2/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..9e2756fd4f2d061965fd735da12b00ebb3fc1b65 --- /dev/null +++ b/N058/go2_arm/dr_off/seed_3031/data/record/ordertapgo2/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "ordertapgo2/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N058/go2_arm/dr_off/seed_3031/data/record/ordertapgo2/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N058/go2_arm/dr_off/seed_3031/data/record/ordertapgo2/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..91411c2a2e4d14a06cd4f7ad6c6e9a2f28e7699a --- /dev/null +++ b/N058/go2_arm/dr_off/seed_3031/data/record/ordertapgo2/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f3ca81633e6037b07749f1f307f1605bbe0a54e7ee99bb8d6eb49b404e30e1c2 +size 4985141 diff --git a/N058/go2_arm/dr_off/seed_3031/data/record/ordertapgo2/000/lerobot_v21/meta/episodes.jsonl b/N058/go2_arm/dr_off/seed_3031/data/record/ordertapgo2/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..5de3339f9c375a8f20a198318a8e39990c46f4e8 --- /dev/null +++ b/N058/go2_arm/dr_off/seed_3031/data/record/ordertapgo2/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order."], "length": 2128, "magicsim/control_steps": 4256, "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 rack b post1. There are a large gray table a, a large gray table b, a large white partition, a large gray pad L, a large yellow lit L, a large gray pad R, a large yellow lit R, a large gray rack b post0, a large gray rack b post1 and a small tapper. The gray table a is in front of the gray pad L. The gray table b is to the left of the gray rack b post1. The white partition is to the right of the yellow lit R. The gray rack b post0 is behind the tapper. The tapper is on top of the gray rack b post1. The scene is viewed from front, at table height."} diff --git a/N058/go2_arm/dr_off/seed_3031/data/record/ordertapgo2/000/lerobot_v21/meta/episodes_stats.jsonl b/N058/go2_arm/dr_off/seed_3031/data/record/ordertapgo2/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2eabbb364cdb89c20699845b11c969d8f870c408 --- /dev/null +++ b/N058/go2_arm/dr_off/seed_3031/data/record/ordertapgo2/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.12824931483990618, 0.0030377223270181986, 0.016067880049404334, 0.3447274426768597, -0.5513691809028387, 1.572399615961358, 0.6196229921975979, 0.13459998653789776, -0.36660494904392427, 0.6712066062018835, 0.027097960927670483, 0.4600563909774436], "std": [0.1660204782898966, 0.03453251066580174, 0.2703606543545427, 0.004992561013321263, 1.4910552378690167, 0.7872061330197971, 0.07694385358188599, 0.139465531778029, 0.30064260678979265, 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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": [ + -3.0753236853242627, + -1.9761402011926046, + 0.42 + ], + "ori": [ + 0.947914183139801, + 0.0, + 0.0, + 0.31852585077285767 + ] + }, + "facing_yaw_deg": 37.14759623583132, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1500.0, + "ambient": "bright" + }, + "effects": [], + "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray rack b post1. There are a large gray table a, a large gray table b, a large white partition, a large gray pad L, a large yellow lit L, a large gray pad R, a large yellow lit R, a large gray rack b post0, a large gray rack b post1 and a small tapper. The gray table a is in front of the gray pad L. The gray table b is to the left of the gray rack b post1. The white partition is to the right of the yellow lit R. The gray rack b post0 is behind the tapper. The tapper is on top of the gray rack b post1. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [rack [tapper]\n\n [partition]\n[ta[lit R]\n[lit L]\n\n\n\n [robot]" + }, + "task": { + "task_type": "OrderTapGo2", + "instruction": "Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order.", + "template_id": -1, + "slots": { + "obj": 1.5707963267948966, + "support": null + }, + "generic_instruction": "Ordertapgo2 the 1.5707963267948966.", + "task_id": "N058", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": false, + "truncated": false +} \ No newline at end of file diff --git a/N058/go2_arm/dr_off/seed_3031/data/record/ordertapgo2/000/lerobot_v21/meta/info.json b/N058/go2_arm/dr_off/seed_3031/data/record/ordertapgo2/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..e556b456c3ef3cfd711b46e41bfda5c65efc7282 --- /dev/null +++ b/N058/go2_arm/dr_off/seed_3031/data/record/ordertapgo2/000/lerobot_v21/meta/info.json @@ -0,0 +1,1061 @@ +{ + "codebase_version": "v2.1", + "robot_type": "Go2PlusCfg", + "total_episodes": 1, + "total_frames": 2128, + "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": [ + 12 + ], + "names": [ + "base_action_0", + "base_action_1", + "base_action_2", + "base_action_3", + "eef0.pos_x", + "eef0.pos_y", + "eef0.pos_z", + "eef0.quat_w", + "eef0.quat_x", + "eef0.quat_y", + "eef0.quat_z", + "gripper" + ] + }, + "action_is_hold": { + "dtype": "bool", + 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--git a/N058/go2_arm/dr_off/seed_3031/data/record/ordertapgo2/000/lerobot_v21/meta/magicsim_manifest.json b/N058/go2_arm/dr_off/seed_3031/data/record/ordertapgo2/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..2cdc2488f55d6cb00050d97059465a7c0cb26c0e --- /dev/null +++ b/N058/go2_arm/dr_off/seed_3031/data/record/ordertapgo2/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,290 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 11:41:17" + }, + "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", + 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decimation: 4 + dt: 0.005 + soft_resets: 2 + enable_scene_query_support: true + 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 + 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: + - 1500 + - 1500 + objects: + table_a: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - -1.5 + - 2.4 + - 0.18 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 1.0 + - 0.6 + - 0.3 + table_a_1: + primitive_params: + size: + - 1.0 + - 1.0 + - 1.0 + visual: + color: + - 0.55 + - 0.42 + - 0.3 + physics: + type: geometry + collision: true + table_b: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - 1.9 + - 2.4 + - 0.18 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 1.0 + - 0.6 + - 0.3 + table_b_1: + primitive_params: + size: + - 1.0 + - 1.0 + - 1.0 + visual: + color: + - 0.55 + - 0.42 + - 0.3 + physics: + type: geometry + collision: true + partition: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - 0.2 + - 2.55 + - 0.78 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.08 + - 2.3 + - 1.5 + partition_1: + primitive_params: + size: + - 1.0 + - 1.0 + - 1.0 + visual: + color: + - 0.8 + - 0.8 + - 0.84 + physics: + type: geometry + collision: true + pad_L: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - -1.66 + - 2.24 + - 0.33999999999999997 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.1 + - 0.1 + - 0.02 + pad_L_1: + primitive_params: + size: + - 1.0 + - 1.0 + - 1.0 + visual: + color: + - 0.42 + - 0.44 + - 0.5 + physics: + type: geometry + collision: true + lit_L: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - -1.66 + - 2.24 + - 0.352 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.10400000000000001 + - 0.10400000000000001 + - 0.004 + lit_L_1: + primitive_params: + size: + - 1.0 + - 1.0 + - 1.0 + visual: + color: + - 1.0 + - 0.85 + - 0.15 + physics: + type: geometry + collision: false + pad_R: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - -1.34 + - 2.24 + - 0.33999999999999997 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.1 + - 0.1 + - 0.02 + pad_R_1: + primitive_params: + size: + - 1.0 + - 1.0 + - 1.0 + visual: + color: + - 0.42 + - 0.44 + - 0.5 + physics: + type: geometry + collision: true + lit_R: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - -1.34 + - 2.24 + - 0.352 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.10400000000000001 + - 0.10400000000000001 + - 0.004 + lit_R_1: + primitive_params: + size: + - 1.0 + - 1.0 + - 1.0 + visual: + color: + - 1.0 + - 0.85 + - 0.15 + physics: + type: geometry + collision: false + rack_b_post0: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - 1.815 + - 2.22 + - 0.355 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.03 + - 0.05 + - 0.05 + rack_b_post0_1: + primitive_params: + size: + - 1.0 + - 1.0 + - 1.0 + visual: + color: + - 0.35 + - 0.35 + - 0.38 + physics: + type: geometry + collision: true + rack_b_post1: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - 1.95 + - 2.22 + - 0.355 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.03 + - 0.05 + - 0.05 + rack_b_post1_1: + primitive_params: + size: + - 1.0 + - 1.0 + - 1.0 + visual: + color: + - 0.35 + - 0.35 + - 0.38 + physics: + type: geometry + collision: true + tapper: + usd: + - $MAGICSIM_ASSETS/StationMemory/sm_tapper + random: false + num_per_env: 1 + common: + scale: + - 1.0 + - 1.0 + - 1.0 + pos: + - - 1.9 + - 2.22 + - 0.39649999999999996 + - - 1.9 + - 2.22 + - 0.39649999999999996 + ori: + - - 0.0 + - 0.0 + - 0.0 + - - 0.0 + - 0.0 + - 0.0 + tapper_1: + physics: + type: rigid + collision: true + mass: 0.12 + physics_material: + static_friction: 1.5 + dynamic_friction: 1.5 + restitution: 0.0 + nav: + navmesh: + min_agent_radius_cm: 30.0 + max_agent_radius_cm: 30.0 + validate_path_clearance: true + validate_path_window: true + validate_path_reroute: true + enabled: true + visualize: false + bake_timeout_s: 180 + agent_height_cm: 65 + max_step_height_cm: 20 + max_floor_slope_deg: 30 + agent_island_radius_cm: 5 + auto_exclude_rigid_bodies: true + navmesh_offset_z_m: 0 + verbose: false + occupancymap: + cell_size: 0.05 + robot: + Go2Plus: + name: go2plus + type: mobilemanip + common: + pos: + - - -3.1 + - -2.1 + - 0.42 + - - -2.9 + - -1.9 + - 0.42 + ori: + - - 0.0 + - 0.0 + - 19.999999999999996 + - - 0.0 + - 0.0 + - 40.0 + 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_max_goalset: 128 + 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: 8 + num_ik_seeds: 64 + 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 + anim: + avatar: + graph: magic + Person: + usd: + - $MAGICSIM_ASSETS/Avatar/Medical/F_Medical_01/F_Medical_01.usd + num_per_env: 1 + random: false + common: + pos: + - -1.5 + - 3.35 + - 0.03 + ori: + - 0.0 + - 0.0 + - 0.0 + body_collision: + representation: bone_rigid + friction: 1.0 + restitution: 0.15 +task: + observation: {} + reward: {} + termination: + timeout_steps: 30000 + success_hold_frames: 1 + task_version: EXT60-MobileAvatar-v3 + agent_id: a12 + primary_category: C6 + embodiment: go2_arm + execution_mode: collect_chain + level: easy + scene_seed: 4031 + layout: + floor_z: 0.03 + room: + x: + - -3.7 + - 3.7 + 'y': + - -2.55 + - 4.05 + S: + x: -3.0 + 'y': -2.0 + yaw_deg: 30.0 + boxes: + table_a: + cx: -1.5 + cy: 2.4 + sx: 1.0 + sy: 0.6 + height: 0.3 + table_b: + cx: 1.9 + cy: 2.4 + sx: 1.0 + sy: 0.6 + height: 0.3 + partition: + cx: 0.2 + cy: 2.55 + sx: 0.08 + sy: 2.3 + height: 1.5 + stations: + A: + table: table_a + outward: + - 0.0 + - -1.0 + B: + table: table_b + outward: + - 0.0 + - -1.0 + stand: + standoff: 0.38 + stretch: {} + spawn_z: 0.42 + stage_retries: 2 + task_id: N058 + draw_kind: order + cue_min_fraction: 1.0 + order: + station: A + pads: + L: + t: -0.16 + depth: 0.14 + R: + t: 0.16 + depth: 0.14 + pad_size: 0.1 + pad_height: 0.02 + flash_s: 1.2 + lead_s: 0.8 + gap_range: + - 0.5 + - 1.2 + pad_legible_size: 0.05 + cue_hold_s: 3.0 + arrive_radius: 0.3 + arrive_yaw: 0.35 + arrive_ticks: 200 + touch_below: 0.01 + touch_above: 0.008 + touch_release_ticks: 3 + avatar: + lower_s: 1.0 + body_radius: 0.25 + robot_radius: 0.3 + contact_clearance: 0.05 + rest_travel_tol: 0.05 + observe: + standoff: 0.42 + dx_jitter: 0.0 + yaw_jitter_deg: 0.0 + spawn_jitter: + x: 0.1 + 'y': 0.1 + yaw_deg: 10.0 + racks: + rack_b: + station: B + t: 0.0 + depth: 0.12 + axis: t + offsets: + - -0.085 + - 0.05 + height: 0.05 + size: + - 0.03 + - 0.05 + items: + tapper: + usd: $MAGICSIM_ASSETS/StationMemory/sm_tapper + station: B + t: 0.0 + depth: 0.12 + z: 0.0665 + yaw_deg: 0 + physics: + type: rigid + collision: true + mass: 0.12 + physics_material: + static_friction: 1.5 + dynamic_friction: 1.5 + restitution: 0.0 + draw: + sequence: + - L + - R + starts: + - 0.8 + - 2.5 + flash_s: 1.2 + extra_boxes: + pad_L: + centre: + - -1.66 + - 2.24 + - 0.33999999999999997 + size: + - 0.1 + - 0.1 + - 0.02 + color: + - 0.42 + - 0.44 + - 0.5 + collision: true + lit_L: + centre: + - -1.66 + - 2.24 + - 0.352 + size: + - 0.10400000000000001 + - 0.10400000000000001 + - 0.004 + color: + - 1.0 + - 0.85 + - 0.15 + collision: false + pad_R: + centre: + - -1.34 + - 2.24 + - 0.33999999999999997 + size: + - 0.1 + - 0.1 + - 0.02 + color: + - 0.42 + - 0.44 + - 0.5 + collision: true + lit_R: + centre: + - -1.34 + - 2.24 + - 0.352 + size: + - 0.10400000000000001 + - 0.10400000000000001 + - 0.004 + color: + - 1.0 + - 0.85 + - 0.15 + collision: false +collect: + auto_collect: + task_type: station + max_trajectories: 1 + record: + output_dir: /mnt/scratch/xc536_atomic/n058_go2_on_4031/out/data/record + formats: + - lerobot_v21 + - sim_info + clear_buffer_on_failure: true + lerobot: + subsample_every: 2 + global_planner: + NavTo: + carry_arm: true + use_navmesh: true + use_absolute: true + translation_threshold: 0.2 + rotation_threshold: 0.3 + num_path_segments: 30 + start_forward_offset: 0.0 + visualize_path: false + MoveL: + translation_threshold: 0.003 + rotation_threshold: 0.2 + motiongen_distance_threshold: 0.2 + timeout_steps: 50 + debug: false + MobileMoveL: + translation_threshold: 0.006 + rotation_threshold: 0.2 + motiongen_distance_threshold: 0.05 + timeout_steps: 1500 + stall_release_ticks: 100 + stall_release_factor: 5.0 + 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 + retry_mobile_on_locked_plan_failure: true + ParallelGripper: + gripper_threshold: 0.0005 + timeout_steps: 60 + atomic_skill: + NavToPose: + robot_id: 0 + position_threshold: 0.12 + angle_threshold: 0.3 + show_marker: false + Move: + arm_planner: MobileMoveL + hand_planner: ParallelGripper + hold_steps: 10 + obstacle_avoid_paths: + - dynamic + obstacle_ignore_paths: [] + close_value: 1.0 + open_value: 0.0 + command: + OrderTapGo2: + robot_id: 0 + hand_id: 0 + init_limit: 90 + max_attempt: 2 + observe_timeout: 1500 + dark_ticks: 110 + above: 0.06 + near: 0.025 + touch_clear: 0.002 + grasp_dx: -0.02 + stage_retries: 2 + tap_extra: 0.04 + tilt_deg: 0.0 + look_pitch_deg: 30.0 + look_distance: 0.55 +env_string: TemporalOrderEnvGo2-V0 +check: + command: OrderTapGo2 +levels: + easy: + task: + spawn_jitter: + x: 0.1 + 'y': 0.1 + yaw_deg: 10.0 + medium: + task: + spawn_jitter: + x: 0.2 + 'y': 0.2 + yaw_deg: 15.0 + hard: + task: + spawn_jitter: + x: 0.3 + 'y': 0.3 + yaw_deg: 20.0 + observe: + standoff: 0.42 + dx_jitter: 0.2 + yaw_jitter_deg: 8.0 +visual_dr: + keep: + - lit_L + - lit_R + - pad_L + - pad_R + - Person diff --git a/N058/go2_arm/dr_on/seed_4031/data/frames/episode0_end.png b/N058/go2_arm/dr_on/seed_4031/data/frames/episode0_end.png new file mode 100644 index 0000000000000000000000000000000000000000..739ff6fc63d3407f3afe6ff4bccee8be8c73c236 --- /dev/null +++ b/N058/go2_arm/dr_on/seed_4031/data/frames/episode0_end.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0fd2a519495979687772427468871d0af3791f04f0cb59215aec50131330b3ea +size 497831 diff --git a/N058/go2_arm/dr_on/seed_4031/data/record/check.json b/N058/go2_arm/dr_on/seed_4031/data/record/check.json new file mode 100644 index 0000000000000000000000000000000000000000..70c7ed904a13523326cadfe9e90df78faa704eb5 --- /dev/null +++ b/N058/go2_arm/dr_on/seed_4031/data/record/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: 'Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order.'; expected 'Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2120 rows vs ceil(4239/2) = 2120" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 91..4329, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "44.67 MB, 2120 frames at 25 fps, mean luma 68..140, std 32, new picture 2119x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2120 vs 2120" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "52.34 MB, 2120 frames at 25 fps, mean luma 59..120, std 28, new picture 2119x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2120 vs 2120" + }, + "sim_info present": { + "pass": true, + "detail": "ordertapgo2/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N058/go2_arm/dr_on/seed_4031/data/record/check.txt b/N058/go2_arm/dr_on/seed_4031/data/record/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..b9576eac7287d3050463aa5da4b870130bfea944 --- /dev/null +++ b/N058/go2_arm/dr_on/seed_4031/data/record/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n058_go2_on_4031/out/data/record task=N058 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n058_go2_on_4031/out/data/record/ordertapgo2/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2120 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: 2120 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: 'Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order.'; expected 'Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order.' +rows 2120 at dataset fps 25 = 84.80 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2120 rows vs ceil(4239/2) = 2120 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 91..4329, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 44.67 MB, 2120 frames at 25 fps, mean luma 68..140, std 32, new picture 2119x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2120 vs 2120 +[PASS] video observation.images.wrist decodes, 640x480, not black: 52.34 MB, 2120 frames at 25 fps, mean luma 59..120, std 28, new picture 2119x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2120 vs 2120 +parquet size 5.04 MB +[PASS] sim_info present: ordertapgo2/000/sim_info +dataset size 102.49 MB; whole cell dir 104.9 MB +RESULT: ALL PASS diff --git a/N058/go2_arm/dr_on/seed_4031/data/record/ordertapgo2/000/completed/0.json b/N058/go2_arm/dr_on/seed_4031/data/record/ordertapgo2/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..9e2756fd4f2d061965fd735da12b00ebb3fc1b65 --- /dev/null +++ b/N058/go2_arm/dr_on/seed_4031/data/record/ordertapgo2/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "ordertapgo2/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N058/go2_arm/dr_on/seed_4031/data/record/ordertapgo2/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N058/go2_arm/dr_on/seed_4031/data/record/ordertapgo2/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..2ff114131be46c49f0ab8c6e7256b17bd23a3b51 --- /dev/null +++ b/N058/go2_arm/dr_on/seed_4031/data/record/ordertapgo2/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:153cf8d4c205acf3c37d329c07826b5874309d3969d69019636f84744fdd0f6a +size 5038982 diff --git a/N058/go2_arm/dr_on/seed_4031/data/record/ordertapgo2/000/lerobot_v21/meta/episodes.jsonl b/N058/go2_arm/dr_on/seed_4031/data/record/ordertapgo2/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c4efe2c4da26f81a305042eb71c7018d782ac55f --- /dev/null +++ b/N058/go2_arm/dr_on/seed_4031/data/record/ordertapgo2/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order."], "length": 2120, "magicsim/control_steps": 4239, "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 rack b post1. There are a large gray table a, a large gray table b, a large white partition, a large gray pad L, a large yellow lit L, a large gray pad R, a large yellow lit R, a large gray rack b post0, a large gray rack b post1 and a small tapper. The gray table a is to the left of the gray pad L. The gray table b is to the left of the gray rack b post1. The white partition is to the right of the yellow lit R. The gray rack b post0 is behind the tapper. The tapper is on top of the gray rack b post1. The scene is viewed from front, at table height."} diff --git a/N058/go2_arm/dr_on/seed_4031/data/record/ordertapgo2/000/lerobot_v21/meta/episodes_stats.jsonl b/N058/go2_arm/dr_on/seed_4031/data/record/ordertapgo2/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0a4fdec266e454a71bdc18b5e115dc7162251bd0 --- /dev/null +++ b/N058/go2_arm/dr_on/seed_4031/data/record/ordertapgo2/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.13088827947998102, 0.0036055927432827512, 0.01893663783620863, 0.34473113113979126, -0.5409435890544698, 1.5602758646714237, 0.6200823372265079, 0.13162844319313768, -0.37588551485941074, 0.6783902480636003, 0.03593725331828733, 0.4561320754716981], "std": [0.16723282743508475, 0.040099416871835235, 0.27365465257471744, 0.004992761009035838, 1.4863436012041347, 0.8129716613387671, 0.07731144579334188, 0.1328974089314575, 0.30271834941234677, 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at the workspace, facing the gray rack b post1. There are a large gray table a, a large gray table b, a large white partition, a large gray pad L, a large yellow lit L, a large gray pad R, a large yellow lit R, a large gray rack b post0, a large gray rack b post1 and a small tapper. The gray table a is to the left of the gray pad L. The gray table b is to the left of the gray rack b post1. The white partition is to the right of the yellow lit R. The gray rack b post0 is behind the tapper. The tapper is on top of the gray rack b post1. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [[tapper]post1]\n\n [partition]\n\n[[[lit R]\n\n\n\n [robot]" + }, + "task": { + "task_type": "OrderTapGo2", + "instruction": "Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order.", + "template_id": -1, + "slots": { + "obj": 1.5707963267948966, + "support": null + }, + "generic_instruction": "Ordertapgo2 the 1.5707963267948966.", + "task_id": "N058", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": {} + }, + "depth_range": [ + 0.1, + 20.0 + ], + "annotation_sidecar": null, + "annotation_sidecar_keys": [], + "terminated": false, + "truncated": false +} \ No newline at end of file diff --git a/N058/go2_arm/dr_on/seed_4031/data/record/ordertapgo2/000/lerobot_v21/meta/info.json b/N058/go2_arm/dr_on/seed_4031/data/record/ordertapgo2/000/lerobot_v21/meta/info.json new file mode 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a/N058/go2_arm/dr_on/seed_4031/data/record/ordertapgo2/000/lerobot_v21/meta/magicsim_manifest.json b/N058/go2_arm/dr_on/seed_4031/data/record/ordertapgo2/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..760d6ad409c58cbd173dc7fd83829aa01eb276b6 --- /dev/null +++ b/N058/go2_arm/dr_on/seed_4031/data/record/ordertapgo2/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,290 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 11:45:00" + }, + "embodiment": { + "robots": [ + { + "name": "Go2Plus", + "cfg": "Go2PlusCfg", + "type": "mobilemanip", + "joint_names": [ + "go2_FL_hip_joint", + "go2_FR_hip_joint", + "go2_RL_hip_joint", + "go2_RR_hip_joint", + "piper_joint1", + "go2_FL_thigh_joint", + "go2_FR_thigh_joint", + "go2_RL_thigh_joint", + "go2_RR_thigh_joint", + "piper_joint2", + "go2_FL_calf_joint", + "go2_FR_calf_joint", + "go2_RL_calf_joint", + "go2_RR_calf_joint", + "piper_joint3", + "piper_joint4", + "piper_joint5", + "piper_joint6", + "piper_joint7", + "piper_joint8" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "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": { + 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-2.9 + - -1.9 + - 0.06 + ori: + - - 0.0 + - 0.0 + - 19.999999999999996 + - - 0.0 + - 0.0 + - 40.0 + initial_joint_pos: + dummy_base_.*: 0.0 + joint_lift: 0.5 + joint_arm_l[0-3]: 0.0 + joint_wrist_yaw: 1.5707963267948966 + joint_wrist_pitch: 0.0 + joint_wrist_roll: 0.0 + joint_head_.*: 0.0 + joint_gripper_finger_.*: 0.0 + 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 + ik: + type: hellorobot + 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 + 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 + goal_cost_mode: path + dilate_radius: 0.3 + room_size: 12.0 + occupancy_update_interval: 25 + scan_height: 0.35 + scan_min_z: 0.12 + scan_max_z: 1.65 + goal_pos_threshold: 0.1 + goal_yaw_threshold: 0.08 + kp_goal_yaw: 1.5 + min_speed: -0.3 + max_speed: 0.3 + w_heading: 0.25 + 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 + 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: 0.03 + nav_heading_target: 1 + velocity_frame: world + arm: + type: default + eef: + type: default + physics: + robot_radius: 0.4 + wheel_base: 0.33 + 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 + nav: + navmesh: + enabled: true + visualize: false + bake_timeout_s: 180 + agent_height_cm: 150 + min_agent_radius_cm: 36.0 + max_agent_radius_cm: 36.0 + 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: false + validate_path_reroute: true + occupancymap: + cell_size: 0.05 + 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: + - 1500 + - 1500 + objects: + table_a: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - -1.5 + - 2.4 + - 0.18 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 1.0 + - 0.6 + - 0.3 + table_a_1: + primitive_params: + size: + - 1.0 + - 1.0 + - 1.0 + visual: + color: + - 0.55 + - 0.42 + - 0.3 + physics: + type: geometry + collision: true + table_b: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - 1.9 + - 2.4 + - 0.18 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 1.0 + - 0.6 + - 0.3 + table_b_1: + primitive_params: + size: + - 1.0 + - 1.0 + - 1.0 + visual: + color: + - 0.55 + - 0.42 + - 0.3 + physics: + type: geometry + collision: true + partition: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - 0.2 + - 2.55 + - 0.78 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.08 + - 2.3 + - 1.5 + partition_1: + primitive_params: + size: + - 1.0 + - 1.0 + - 1.0 + visual: + color: + - 0.8 + - 0.8 + - 0.84 + physics: + type: geometry + collision: true + pad_L: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - -1.66 + - 2.24 + - 0.33999999999999997 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.1 + - 0.1 + - 0.02 + pad_L_1: + primitive_params: + size: + - 1.0 + - 1.0 + - 1.0 + visual: + color: + - 0.42 + - 0.44 + - 0.5 + physics: + type: geometry + collision: true + lit_L: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - -1.66 + - 2.24 + - 0.352 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.10400000000000001 + - 0.10400000000000001 + - 0.004 + lit_L_1: + primitive_params: + size: + - 1.0 + - 1.0 + - 1.0 + visual: + color: + - 1.0 + - 0.85 + - 0.15 + physics: + type: geometry + collision: false + pad_R: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - -1.34 + - 2.24 + - 0.33999999999999997 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.1 + - 0.1 + - 0.02 + pad_R_1: + primitive_params: + size: + - 1.0 + - 1.0 + - 1.0 + visual: + color: + - 0.42 + - 0.44 + - 0.5 + physics: + type: geometry + collision: true + lit_R: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - -1.34 + - 2.24 + - 0.352 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.10400000000000001 + - 0.10400000000000001 + - 0.004 + lit_R_1: + primitive_params: + size: + - 1.0 + - 1.0 + - 1.0 + visual: + color: + - 1.0 + - 0.85 + - 0.15 + physics: + type: geometry + collision: false + rack_b_post0: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - 1.815 + - 2.22 + - 0.355 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.03 + - 0.05 + - 0.05 + rack_b_post0_1: + primitive_params: + size: + - 1.0 + - 1.0 + - 1.0 + visual: + color: + - 0.35 + - 0.35 + - 0.38 + physics: + type: geometry + collision: true + rack_b_post1: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - 1.95 + - 2.22 + - 0.355 + ori: + - 0.0 + - 0.0 + - 0.0 + scale: + - 0.03 + - 0.05 + - 0.05 + rack_b_post1_1: + primitive_params: + size: + - 1.0 + - 1.0 + - 1.0 + visual: + color: + - 0.35 + - 0.35 + - 0.38 + physics: + type: geometry + collision: true + tapper: + usd: + - $MAGICSIM_ASSETS/StationMemory/sm_tapper + random: false + num_per_env: 1 + common: + scale: + - 1.0 + - 1.0 + - 1.0 + pos: + - - 1.9 + - 2.22 + - 0.39649999999999996 + - - 1.9 + - 2.22 + - 0.39649999999999996 + ori: + - - 0.0 + - 0.0 + - 0.0 + - - 0.0 + - 0.0 + - 0.0 + tapper_1: + physics: + type: rigid + collision: true + mass: 0.12 + physics_material: + static_friction: 1.5 + dynamic_friction: 1.5 + restitution: 0.0 + anim: + avatar: + graph: magic + Person: + usd: + - $MAGICSIM_ASSETS/Avatar/Medical/F_Medical_01/F_Medical_01.usd + num_per_env: 1 + random: false + common: + pos: + - -1.5 + - 3.35 + - 0.03 + ori: + - 0.0 + - 0.0 + - 0.0 + body_collision: + representation: bone_rigid + friction: 1.0 + restitution: 0.15 +collect: + global_planner: + NavTo: + use_navmesh: true + use_absolute: true + translation_threshold: 0.12 + rotation_threshold: 0.1 + num_path_segments: 30 + start_forward_offset: 0.0 + visualize_path: false + carry_arm: true + MobileMoveL: + translation_threshold: 0.045 + rotation_threshold: 0.05 + motiongen_distance_threshold: 0.0 + timeout_steps: 600 + debug: false + debug_viz: false + debug_sphere: false + reactive: false + base_pos_threshold: 0.025 + base_rot_threshold: 0.05 + eef_pos_threshold: 0.045 + eef_rot_threshold: 0.1 + waypoint_max_steps: 30 + retry_mobile_on_locked_plan_failure: true + ParallelGripper: + gripper_threshold: 0.0005 + timeout_steps: 60 + MobileServoL: + base_pos_threshold: 0.12 + waypoint_max_steps: 20 + translation_threshold: 0.05 + timeout_steps: 600 + debug: false + debug_viz: false + atomic_skill: + NavToPose: + robot_id: 0 + show_marker: false + Move: + arm_planner: MobileMoveL + hand_planner: ParallelGripper + obstacle_avoid_paths: [] + obstacle_ignore_paths: [] + close_value: 1.0 + open_value: 0.0 + hold_steps: 10 + Grasp: + pre_grasp_offset: 0.1 + retrieval_offset: 0.1 + mobile: true + pre_grasp_planner: MobileMoveL + pre_grasp_mode: 0 + grasp_mode: 0 + retrieval_mode: 0 + reactive: false + viz_grasp: false + goalset_lock_base: true + retrieval_up: true + pre_grasp_offset_x: 0.1 + retrieval_offset_x: 0.15 + ReachStance: + check_current_first: true + stance_margin: 0.0 + max_reach: 1.2 + max_walks: 1 + reject_radius: 0.05 + obstacle_avoidance: + - dynamic + walk_planner: MobileServoL + debug: true + auto_collect: + task_type: station + max_trajectories: 1 + record: + output_dir: /mnt/scratch/xc536_atomic/n058_str_off_3034/out/data/record + formats: + - lerobot_v21 + - sim_info + clear_buffer_on_failure: true + lerobot: + subsample_every: 2 + command: + OrderTap: + robot_id: 0 + hand_id: 0 + init_limit: 90 + max_attempt: 2 + observe_timeout: 1500 + dark_ticks: 110 + above: 0.06 + touch_clear: 0.002 + base_margin: 0.11 + trim_min: 0.02 +task: + stance: + stand_radii: + - 0.42 + - 0.5 + - 0.36 + walk_fallback: false + radii: + - 0.6 + - 0.7 + - 0.8 + - 0.9 + heights: + - 0.0 + bearings_deg: + - 0 + - -30 + - 30 + - -60 + - 60 + yaw_offsets_deg: + - 90.0 + include_current: true + observation: {} + reward: {} + termination: + timeout_steps: 30000 + success_hold_frames: 1 + task_version: EXT60-MobileAvatar-v3 + agent_id: a12 + primary_category: C6 + embodiment: stretch3 + execution_mode: collect_chain + level: easy + scene_seed: 3034 + layout: + floor_z: 0.03 + room: + x: + - -3.7 + - 3.7 + 'y': + - -2.55 + - 4.05 + S: + x: -3.0 + 'y': -2.0 + yaw_deg: 30.0 + boxes: + table_a: + cx: -1.5 + cy: 2.4 + sx: 1.0 + sy: 0.6 + height: 0.3 + table_b: + cx: 1.9 + cy: 2.4 + sx: 1.0 + sy: 0.6 + height: 0.3 + partition: + cx: 0.2 + cy: 2.55 + sx: 0.08 + sy: 2.3 + height: 1.5 + stations: + A: + table: table_a + outward: + - 0.0 + - -1.0 + B: + table: table_b + outward: + - 0.0 + - -1.0 + stand: + standoff: 0.4 + stretch: + max_lateral: 0.3 + max_fold_turn: 0.6 + task_id: N058 + draw_kind: order + cue_min_fraction: 1.0 + order: + station: A + pads: + L: + t: -0.16 + depth: 0.14 + R: + t: 0.16 + depth: 0.14 + pad_size: 0.1 + pad_height: 0.02 + flash_s: 1.2 + lead_s: 0.8 + gap_range: + - 0.5 + - 1.2 + pad_legible_size: 0.05 + cue_hold_s: 3.0 + arrive_radius: 0.3 + arrive_yaw: 0.35 + arrive_ticks: 10 + touch_below: 0.01 + touch_above: 0.008 + touch_release_ticks: 3 + avatar: + lower_s: 1.0 + body_radius: 0.25 + robot_radius: 0.3 + contact_clearance: 0.05 + rest_travel_tol: 0.05 + observe: + standoff: 1.3 + dx_jitter: 0.0 + yaw_jitter_deg: 0.0 + spawn_jitter: + x: 0.1 + 'y': 0.1 + yaw_deg: 10.0 + racks: + rack_b: + station: B + t: 0.0 + depth: 0.12 + axis: t + offsets: + - -0.085 + - 0.05 + height: 0.05 + size: + - 0.03 + - 0.05 + items: + tapper: + usd: $MAGICSIM_ASSETS/StationMemory/sm_tapper + station: B + t: 0.0 + depth: 0.12 + z: 0.0665 + yaw_deg: 0 + physics: + type: rigid + collision: true + mass: 0.12 + physics_material: + static_friction: 1.5 + dynamic_friction: 1.5 + restitution: 0.0 + draw: + sequence: + - R + - L + starts: + - 0.8 + - 2.5 + flash_s: 1.2 + extra_boxes: + pad_L: + centre: + - -1.66 + - 2.24 + - 0.33999999999999997 + size: + - 0.1 + - 0.1 + - 0.02 + color: + - 0.42 + - 0.44 + - 0.5 + collision: true + lit_L: + centre: + - -1.66 + - 2.24 + - 0.352 + size: + - 0.10400000000000001 + - 0.10400000000000001 + - 0.004 + color: + - 1.0 + - 0.85 + - 0.15 + collision: false + pad_R: + centre: + - -1.34 + - 2.24 + - 0.33999999999999997 + size: + - 0.1 + - 0.1 + - 0.02 + color: + - 0.42 + - 0.44 + - 0.5 + collision: true + lit_R: + centre: + - -1.34 + - 2.24 + - 0.352 + size: + - 0.10400000000000001 + - 0.10400000000000001 + - 0.004 + color: + - 1.0 + - 0.85 + - 0.15 + collision: false +env_string: TemporalOrderEnv-V0 +check: + command: OrderTap +levels: + easy: + task: + spawn_jitter: + x: 0.1 + 'y': 0.1 + yaw_deg: 10.0 + medium: + task: + spawn_jitter: + x: 0.2 + 'y': 0.2 + yaw_deg: 15.0 + hard: + task: + spawn_jitter: + x: 0.3 + 'y': 0.3 + yaw_deg: 20.0 + observe: + standoff: 1.3 + dx_jitter: 0.2 + yaw_jitter_deg: 8.0 +visual_dr: + keep: + - lit_L + - lit_R + - pad_L + - pad_R + - Person diff --git a/N058/stretch3/dr_off/seed_3034/data/frames/episode0_end.png b/N058/stretch3/dr_off/seed_3034/data/frames/episode0_end.png new file mode 100644 index 0000000000000000000000000000000000000000..349975e7302629b2b00a0451ee8a55de9de29626 --- /dev/null +++ b/N058/stretch3/dr_off/seed_3034/data/frames/episode0_end.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:86e3898786b802991e2b4b540e17c0fdaddd83ecf42b909af735706aed31f346 +size 312165 diff --git a/N058/stretch3/dr_off/seed_3034/data/record/check.json b/N058/stretch3/dr_off/seed_3034/data/record/check.json new file mode 100644 index 0000000000000000000000000000000000000000..788a1ff41d14fc7df8d167e52d7b376ea5401a81 --- /dev/null +++ b/N058/stretch3/dr_off/seed_3034/data/record/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: 'Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order.'; expected 'Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2029 rows vs ceil(4057/2) = 2029" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 91..4147, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "19.79 MB, 2029 frames at 25 fps, mean luma 105..157, std 14, new picture 2028x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2029 vs 2029" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "41.74 MB, 2029 frames at 25 fps, mean luma 116..139, std 28, new picture 2028x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2029 vs 2029" + }, + "sim_info present": { + "pass": true, + "detail": "ordertap/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N058/stretch3/dr_off/seed_3034/data/record/check.txt b/N058/stretch3/dr_off/seed_3034/data/record/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..4ad8ae2fc064f1786e8101e87ad3322c945bbe3f --- /dev/null +++ b/N058/stretch3/dr_off/seed_3034/data/record/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n058_str_off_3034/out/data/record task=N058 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n058_str_off_3034/out/data/record/ordertap/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2029 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: 2029 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: 'Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order.'; expected 'Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order.' +rows 2029 at dataset fps 25 = 81.16 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2029 rows vs ceil(4057/2) = 2029 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 91..4147, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 19.79 MB, 2029 frames at 25 fps, mean luma 105..157, std 14, new picture 2028x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2029 vs 2029 +[PASS] video observation.images.wrist decodes, 640x480, not black: 41.74 MB, 2029 frames at 25 fps, mean luma 116..139, std 28, new picture 2028x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2029 vs 2029 +parquet size 3.66 MB +[PASS] sim_info present: ordertap/000/sim_info +dataset size 65.59 MB; whole cell dir 67.3 MB +RESULT: ALL PASS diff --git a/N058/stretch3/dr_off/seed_3034/data/record/ordertap/000/completed/0.json b/N058/stretch3/dr_off/seed_3034/data/record/ordertap/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..264194ee2c72df4c0f271bba7901f935845676db --- /dev/null +++ b/N058/stretch3/dr_off/seed_3034/data/record/ordertap/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "ordertap/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N058/stretch3/dr_off/seed_3034/data/record/ordertap/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N058/stretch3/dr_off/seed_3034/data/record/ordertap/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..9bb1a7ef319ad3e34d0b6cbfd0172ffdb16edc89 --- /dev/null +++ b/N058/stretch3/dr_off/seed_3034/data/record/ordertap/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c8cc1d34f042b794e7a65acd5b66242ca13a39a7152e39f4ddcaf93aef6a8caa +size 3659504 diff --git a/N058/stretch3/dr_off/seed_3034/data/record/ordertap/000/lerobot_v21/meta/episodes.jsonl b/N058/stretch3/dr_off/seed_3034/data/record/ordertap/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..72614c2c802c90cad9c69a6edd480295d0794e56 --- /dev/null +++ b/N058/stretch3/dr_off/seed_3034/data/record/ordertap/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order."], "length": 2029, "magicsim/control_steps": 4057, "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 rack b post1. There are a large gray table a, a large gray table b, a large white partition, a large gray pad L, a large yellow lit L, a large gray pad R, a large yellow lit R, a large gray rack b post0, a large gray rack b post1 and a small tapper. The gray table a is to the left of the gray pad R. The gray table b is to the left of the gray rack b post1. The white partition is to the right of the yellow lit R. The gray rack b post0 is behind the tapper. The tapper is on top of the gray rack b post1. The scene is viewed from front, slightly above table height."} diff --git a/N058/stretch3/dr_off/seed_3034/data/record/ordertap/000/lerobot_v21/meta/episodes_stats.jsonl b/N058/stretch3/dr_off/seed_3034/data/record/ordertap/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3e8ca8035037e28ef7fed5f9f76baf34bb2d103d --- /dev/null +++ b/N058/stretch3/dr_off/seed_3034/data/record/ordertap/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.1328668898212948, 0.0, 0.04000854478348478, -0.2073620889591078, 1.363131031320564, 0.5764306113307496, -0.3587843941869109, 0.192854561389281, 0.003891764918125235, -0.44774138274349107, 0.46081813701330704], "std": [0.1425779701280113, 0.0, 0.2310705384700577, 1.5438939670439058, 0.9543861595226735, 0.09774654919085268, 0.438298301364869, 0.4353597315710335, 0.05903880727037666, 0.4984618085404578, 0.4984624174528118], "min": 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0.008999751121030937, + -0.07177462016445776, + 0.044614582297616646 + ] + } + } + ], + "robots": [ + { + "name": "HelloRobot", + "model": "hellorobot", + "type": "mobilemanip", + "noun": "Hello Robot Stretch 3 mobile manipulator", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -2.9980869867451805, + -2.0617384330705724, + 0.06 + ], + "ori": [ + 0.9558338522911072, + 0.0, + 0.0, + 0.2939075231552124 + ] + }, + "facing_yaw_deg": 34.18407827252495, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 1500.0, + "ambient": "bright" + }, + "effects": [], + "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the gray rack b post1. There are a large gray table a, a large gray table b, a large white partition, a large gray pad L, a large yellow lit L, a large gray pad R, a large yellow lit R, a large gray rack b post0, a large gray rack b post1 and a small tapper. The gray table a is to the left of the gray pad R. The gray table b is to the left of the gray rack b post1. The white partition is to the right of the yellow lit R. The gray rack b post0 is behind the tapper. The tapper is on top of the gray rack b post1. The scene is viewed from front, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [rack[tapper]]\n\n [partition]\n[t[lit R]\n[lit L]\n\n\n\n [robot]" + }, + "task": { + "task_type": "OrderTap", + "instruction": "Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order.", + "template_id": -1, + "slots": { + "obj": 1.5707963267948966, + "support": null + }, + "generic_instruction": "Ordertap the 1.5707963267948966.", + "task_id": "N058", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_1805": { + "frame_idx": 1805, + "caption": "Pre-grasping the small tapper, moving the arm toward it; the right gripper is below and to the left of and in front of the tapper.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "computing", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "tapper_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_1835": { + "frame_idx": 1835, + "caption": "Pre-grasping the small tapper, moving the arm toward it; the right gripper is below and in front of the tapper.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tapper_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_1869": { + "frame_idx": 1869, + "caption": "Pre-grasping the small tapper, moving the arm toward it; the right gripper is below the tapper.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tapper_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1870": { + "frame_idx": 1870, + "caption": "Grasping the small tapper, moving the arm in to make contact; the right gripper is below the tapper.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "tapper_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1875": { + "frame_idx": 1875, + "caption": "Grasping the small tapper, moving the arm in to make contact.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tapper_1", + "hand_id": 0, + "eef_relation": [] + }, + "frame_1920": { + "frame_idx": 1920, + "caption": "Closing the right gripper on the tapper.", + "skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "tapper_1", + "hand_id": 0, + "eef_relation": [] + }, + "frame_1980": { + "frame_idx": 1980, + "caption": "Lifting the tapper away with the gripper.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "finished", + "target": "tapper_1", + "hand_id": 0, + "eef_relation": [] + }, + "frame_1981": { + "frame_idx": 1981, + "caption": "Lifting the tapper away with the arm.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tapper_1", + "hand_id": 0, + "eef_relation": [] + }, + "frame_1985": { + "frame_idx": 1985, + "caption": "Lifting the tapper away with the arm; the right gripper is below the tapper.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tapper_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_2030": { + "frame_idx": 2030, + "caption": "Done — the small tapper is grasped; the right gripper is below the tapper.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "tapper_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_2179": { + "frame_idx": 2179, + "caption": "Pre-grasping the small tapper, moving the arm toward it; the right gripper is below and to the left of and in front of the tapper.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "computing", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "tapper_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_2219": { + "frame_idx": 2219, + "caption": "Pre-grasping the small tapper, moving the arm toward it; the right gripper is below and in front of the tapper.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tapper_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_2243": { + "frame_idx": 2243, + "caption": "Pre-grasping the small tapper, moving the arm toward it; the right gripper is below the tapper.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tapper_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_2246": { + "frame_idx": 2246, + "caption": "Grasping the small tapper, moving the arm in to make contact; the right gripper is below the tapper.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "tapper_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_2253": { + "frame_idx": 2253, + "caption": "Grasping the small tapper, moving the arm in to make contact.", + "skill": "Grasp", + "phase": "grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tapper_1", + "hand_id": 0, + "eef_relation": [] + }, + "frame_2296": { + "frame_idx": 2296, + "caption": "Closing the right gripper on the tapper.", + "skill": "Grasp", + "phase": "close_gripper", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "finished", + "target": "tapper_1", + "hand_id": 0, + "eef_relation": [] + }, + "frame_2356": { + "frame_idx": 2356, + "caption": "Lifting the tapper away with the gripper.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "ParallelGripper", + "planner_state": "finished", + "target": "tapper_1", + "hand_id": 0, + "eef_relation": [] + }, + "frame_2357": { + "frame_idx": 2357, + "caption": "Lifting the tapper away with the arm.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "tapper_1", + "hand_id": 0, + "eef_relation": [] + }, + "frame_2359": { + "frame_idx": 2359, + "caption": "Lifting the tapper away with the arm; the right gripper is below the tapper.", + "skill": "Grasp", + "phase": "retrieval", + "skill_state": 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+ "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/N058/stretch3/dr_off/seed_3034/data/record/ordertap/000/lerobot_v21/meta/magicsim_manifest.json b/N058/stretch3/dr_off/seed_3034/data/record/ordertap/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..71b65b2ea0d2bfbc4967599bf87d10c92b0f6ff4 --- /dev/null +++ b/N058/stretch3/dr_off/seed_3034/data/record/ordertap/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-08 11:41:59" + }, + "embodiment": { + "robots": [ + { + "name": "HelloRobot", + "cfg": "HelloRobotCfg", + "type": "mobilemanip", + "joint_names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "joint_lift", + "joint_head_pan", + "joint_head_tilt", + "joint_arm_l3", + "joint_arm_l2", + "joint_arm_l1", + "joint_arm_l0", + "joint_wrist_yaw", + "joint_wrist_pitch", + "joint_wrist_roll", + "joint_gripper_finger_left", + "joint_gripper_finger_right" + ] + } + ] + }, + "timing": { + "fps": 50.0, + "fps_int": 50, + "sim_dt": 0.005, + "decimation": 4, + "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing" + }, + "action_layout": { + "dim": 11, + "nan_policy": "from_raw", + "segments": [ + { + "name": "HelloRobot.base_action", + "start": 0, + "end": 3, + "names": [ + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint" + ], + "source": "HelloRobotBaseAction", + "names_source": "_joint_names" + }, + { + "name": "HelloRobot.arm_action", + "start": 3, + "end": 10, + "names": [ + "arm_action_0", + "arm_action_1", + "arm_action_2", + "arm_action_3", + "arm_action_4", + "arm_action_5", + "arm_action_6" + ], + "source": "HelloRobotIKAction", + "names_source": "fallback" + }, + { + "name": "HelloRobot.eef_action", + "start": 10, + "end": 11, + "names": [ + "gripper" + ], + "source": "BinaryJointPositionAction", + "names_source": "gripper" + } + ] + }, + "state_layout": { + "dim": 15, + "segments": 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