add N023/sawyer_umi/dr_off/seed_5007

N023/sawyer_umi/dr_off/seed_5007/check.json

@@ -27,27 +27,27 @@
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,
-   "detail": "881 rows vs ceil(1761/2) = 881"
+   "detail": "880 rows vs ceil(1760/2) = 880"
   },
   "rows are every 2nd control step (sim_step_idx)": {
    "pass": true,
-   "detail": "sim_step_idx 31..1791, step differences [2]"
+   "detail": "sim_step_idx 31..1789, step differences [2]"
   },
   "video observation.images.head decodes, 640x480, not black": {
    "pass": true,
-   "detail": "8.69 MB, 881 frames at 25 fps, mean luma 118..138, std 40, new picture 880x = 25.0 per s"
+   "detail": "8.73 MB, 880 frames at 25 fps, mean luma 118..138, std 40, new picture 879x = 25.0 per s"
   },
   "video observation.images.head frames = parquet rows": {
    "pass": true,
-   "detail": "881 vs 881"
+   "detail": "880 vs 880"
   },
   "video observation.images.wrist decodes, 640x480, not black": {
    "pass": true,
-   "detail": "14.13 MB, 881 frames at 25 fps, mean luma 114..165, std 42, new picture 880x = 25.0 per s"
+   "detail": "14.22 MB, 880 frames at 25 fps, mean luma 114..165, std 42, new picture 879x = 25.0 per s"
   },
   "video observation.images.wrist frames = parquet rows": {
    "pass": true,
-   "detail": "881 vs 881"
+   "detail": "880 vs 880"
   },
   "sim_info present": {
    "pass": true,

N023/sawyer_umi/dr_off/seed_5007/check.txt

@@ -1,21 +1,21 @@
 collect dataset check  cell=/mnt/scratch/sz850_atomic/n023_saw_off_5007/out  task=N023  at verify_collect_dataset.py
-dataset root /mnt/scratch/sz850_atomic/n023_saw_off_5007/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 881  videos 2  robot_type RidgebackSawyerUmiCfg
+dataset root /mnt/scratch/sz850_atomic/n023_saw_off_5007/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 880  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: 881 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+--- episode file episode_000000.parquet: 880 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
 [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']
 [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']
 [PASS] task text = MobileBench instruction: task_index 0: 'Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.'; expected 'Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.'
-rows 881 at dataset fps 25 = 35.24 s
-[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 881 rows vs ceil(1761/2) = 881
-[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..1791, step differences [2]
-[PASS] video observation.images.head decodes, 640x480, not black: 8.69 MB, 881 frames at 25 fps, mean luma 118..138, std 40, new picture 880x = 25.0 per s
-[PASS] video observation.images.head frames = parquet rows: 881 vs 881
-[PASS] video observation.images.wrist decodes, 640x480, not black: 14.13 MB, 881 frames at 25 fps, mean luma 114..165, std 42, new picture 880x = 25.0 per s
-[PASS] video observation.images.wrist frames = parquet rows: 881 vs 881
+rows 880 at dataset fps 25 = 35.20 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 880 rows vs ceil(1760/2) = 880
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..1789, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 8.73 MB, 880 frames at 25 fps, mean luma 118..138, std 40, new picture 879x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 880 vs 880
+[PASS] video observation.images.wrist decodes, 640x480, not black: 14.22 MB, 880 frames at 25 fps, mean luma 114..165, std 42, new picture 879x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 880 vs 880
 parquet size 0.99 MB
 [PASS] sim_info present: stationassembly/000/sim_info
-dataset size 23.97 MB; whole cell dir 24.5 MB
+dataset size 24.10 MB; whole cell dir 24.6 MB
 RESULT: ALL PASS

N023/sawyer_umi/dr_off/seed_5007/report.json

@@ -141,7 +141,7 @@
       }
     }
   },
-  "steps": 1791,
+  "steps": 1790,
   "task_id": "N023",
   "task_version": "EXT60-MobileAvatar-v3",
   "family_id": "cap_transfer",
@@ -1061,11 +1061,6 @@
       0.524,
       1.46
     ],
-    [
-      -2.058,
-      0.524,
-      1.46
-    ],
     [
       -2.058,
       0.524,
@@ -1110,64 +1105,64 @@
       "stage": "pick"
     },
     {
-      "step": 1043,
+      "step": 1042,
       "event": "stage_done",
       "stage": "pick",
       "skill_state": "finished"
     },
     {
-      "step": 1043,
+      "step": 1042,
       "event": "stage_start",
       "stage": "assemble"
     },
     {
-      "step": 1043,
+      "step": 1042,
       "event": "wp_start",
       "name": "start",
       "kind": "servo"
     },
     {
-      "step": 1043,
+      "step": 1042,
       "event": "assemble_start",
       "t_l6_part": [
-        0.2217,
+        0.2218,
         0.013,
         -0.0022,
         0.5613,
         -0.598,
-        -0.4171,
-        0.3916
+        -0.417,
+        0.3917
       ]
     },
     {
-      "step": 1046,
+      "step": 1045,
       "event": "wp_done",
       "name": "start"
     },
     {
-      "step": 1046,
+      "step": 1045,
       "event": "wp_start",
       "name": "pull",
       "kind": "servo"
     },
     {
-      "step": 1075,
+      "step": 1074,
       "event": "cap_off",
-      "x_mm": -105.6
+      "x_mm": -105.7
     },
     {
-      "step": 1101,
+      "step": 1100,
       "event": "wp_done",
       "name": "pull"
     },
     {
-      "step": 1101,
+      "step": 1100,
       "event": "wp_start",
       "name": "lift",
       "kind": "servo"
     },
     {
-      "step": 1123,
+      "step": 1122,
       "event": "picked",
       "part": [
         -2.1773,
@@ -1178,74 +1173,74 @@
       "lift_mm": 30.7
     },
     {
-      "step": 1143,
+      "step": 1142,
       "event": "wp_done",
       "name": "lift"
     },
     {
-      "step": 1143,
+      "step": 1142,
       "event": "wp_start",
       "name": "turn",
       "kind": "servo"
     },
     {
-      "step": 1383,
+      "step": 1382,
       "event": "wp_done",
       "name": "turn"
     },
     {
-      "step": 1383,
+      "step": 1382,
       "event": "wp_start",
       "name": "over_tail",
       "kind": "servo"
     },
     {
-      "step": 1564,
+      "step": 1563,
       "event": "wp_done",
       "name": "over_tail"
     },
     {
-      "step": 1564,
+      "step": 1563,
       "event": "wp_start",
       "name": "down",
       "kind": "servo"
     },
     {
-      "step": 1612,
+      "step": 1611,
       "event": "wp_done",
       "name": "down"
     },
     {
-      "step": 1612,
+      "step": 1611,
       "event": "wp_start",
       "name": "push_on",
       "kind": "servo"
     },
     {
-      "step": 1666,
+      "step": 1665,
       "event": "wp_done",
       "name": "push_on"
     },
     {
-      "step": 1666,
+      "step": 1665,
       "event": "release_start"
     },
     {
-      "step": 1745,
+      "step": 1744,
       "event": "leave_start"
     },
     {
-      "step": 1761,
+      "step": 1760,
       "event": "released",
       "gap_mm": 41.7
     },
     {
-      "step": 1791,
+      "step": 1790,
       "event": "success",
       "ok": true,
-      "seat_dx_mm": 0.07,
+      "seat_dx_mm": 0.09,
       "lateral_mm": 1.09,
-      "axis_deg": 0.16,
+      "axis_deg": 0.24,
       "nib_exposed": true
     }
   ],
@@ -1263,9 +1258,9 @@
   "violations": [],
   "end_state": {
     "ok": true,
-    "seat_dx_mm": 0.07,
+    "seat_dx_mm": 0.09,
     "lateral_mm": 1.09,
-    "axis_deg": 0.16,
+    "axis_deg": 0.24,
     "nib_exposed": true
   },
   "manipulation_success": true,
@@ -1275,5 +1270,5 @@
     "released": true
   },
   "command_state": null,
-  "elapsed_s": 495.0
+  "elapsed_s": 612.9
 }

N023/sawyer_umi/dr_off/seed_5007/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:0027cbceddaf3db9accb62d302ef871825a39863f894492694a06e485a90dcbf
-size 988156
+oid sha256:73c028987d3d590226f3fcb471de735ebc0a1adb3839dc8898b8d65fb23cd62a
+size 988972

N023/sawyer_umi/dr_off/seed_5007/stationassembly/000/lerobot_v21/meta/episodes.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "tasks": ["Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen."], "length": 881, "magicsim/control_steps": 1761, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table A. There are a large gray table A, a small pen holder and a small cap. The gray table A is in front of the pen holder. The pen holder is to the right of the cap. The cap is to the left of the pen holder. The scene is viewed from front-right, at table height."}
+{"episode_index": 0, "tasks": ["Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen."], "length": 880, "magicsim/control_steps": 1760, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table A. There are a large gray table A, a small pen holder and a small cap. The gray table A is in front of the pen holder. The pen holder is to the right of the cap. The cap is to the left of the pen holder. The scene is viewed from front-right, at table height."}

N023/sawyer_umi/dr_off/seed_5007/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "stats": {"action": {"mean": [0.09307188475367092, -0.0020575346160895706, 0.005521513865433452, -2.277155794431619, 0.818928321631082, 0.9722051198312022, 0.4277742414769746, 0.27410552463791293, 0.412529133372503, -0.22337009372965566, 0.3927355278093076], "std": [0.13547587039831727, 0.008250786895996311, 0.06244395751659207, 0.40302152175478445, 0.9720492113775213, 0.2763551259866443, 0.17830965005732968, 0.43754618053793165, 0.21154544181067408, 0.5037939837718682, 0.488358815836936], "min": [0.0, -0.06355961412191391, -0.20166850090026855, -3.456080913543701, -1.8761508464813232, 0.6812960505485535, -0.39660343527793884, -0.6088767051696777, -0.601173996925354, -0.7604590058326721, 0.0], "max": [0.30000001192092896, 0.00707831047475338, 0.6225963234901428, -1.7825441360473633, 1.483559012413025, 1.3033621311187744, 0.6650004982948303, 0.6747190356254578, 0.6057901382446289, 0.7603962421417236, 1.0], "count": [881]}, "action_is_hold": {"mean": 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N023/sawyer_umi/dr_off/seed_5007/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json

@@ -4,7 +4,7 @@
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N023/sawyer_umi/dr_off/seed_5007/stationassembly/000/lerobot_v21/meta/info.json

@@ -2,7 +2,7 @@
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N023/sawyer_umi/dr_off/seed_5007/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json

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N023/sawyer_umi/dr_off/seed_5007/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

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N023/sawyer_umi/dr_off/seed_5007/stationassembly/000/run_meta.json

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N023/sawyer_umi/dr_off/seed_5007/stationassembly/000/sim_info/0/actions.npz

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N023/sawyer_umi/dr_off/seed_5007/stationassembly/000/sim_info/magicsim_manifest.json

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