diff --git a/N009/go2_arm/dr_on/seed_2067/check.json b/N009/go2_arm/dr_on/seed_2067/check.json new file mode 100644 index 0000000000000000000000000000000000000000..e4cd8892d2c41aee82dfb2e67e4626834185bb0f --- /dev/null +++ b/N009/go2_arm/dr_on/seed_2067/check.json @@ -0,0 +1,57 @@ +{ + "ok": true, + "results": { + "codebase v2.1": { + "pass": true, + "detail": "v2.1" + }, + "dataset fps = 25": { + "pass": true, + "detail": "info.fps 25" + }, + "parquet episodes": { + "pass": true, + "detail": "1 files, info.total_episodes=1" + }, + "observation.state shape": { + "pass": true, + "detail": "parquet width 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 stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'; expected 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1244 rows vs ceil(2487/2) = 1244" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..2587, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "17.69 MB, 1244 frames at 25 fps, mean luma 55..116, std 25, new picture 1239x = 24.9 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1244 vs 1244" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "24.51 MB, 1244 frames at 25 fps, mean luma 79..143, std 35, new picture 1243x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1244 vs 1244" + }, + "sim_info present": { + "pass": true, + "detail": "record/stationlayer/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N009/go2_arm/dr_on/seed_2067/check.txt b/N009/go2_arm/dr_on/seed_2067/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..1e56d05a5b20f3ad80b9f9836405179fd906d32f --- /dev/null +++ b/N009/go2_arm/dr_on/seed_2067/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n009_go2_on_2067/out task=N009 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n009_go2_on_2067/out/record/stationlayer/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1244 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: 1244 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 stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'; expected 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.' +rows 1244 at dataset fps 25 = 49.76 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1244 rows vs ceil(2487/2) = 1244 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..2587, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 17.69 MB, 1244 frames at 25 fps, mean luma 55..116, std 25, new picture 1239x = 24.9 per s +[PASS] video observation.images.head frames = parquet rows: 1244 vs 1244 +[PASS] video observation.images.wrist decodes, 640x480, not black: 24.51 MB, 1244 frames at 25 fps, mean luma 79..143, std 35, new picture 1243x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1244 vs 1244 +parquet size 34.01 MB +[PASS] sim_info present: record/stationlayer/000/sim_info +dataset size 78.67 MB; whole cell dir 115.8 MB +RESULT: ALL PASS diff --git a/N009/go2_arm/dr_on/seed_2067/config.yaml b/N009/go2_arm/dr_on/seed_2067/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..fa86fa1b7f35bfa3ad08dbc652de6def22d17899 --- /dev/null +++ b/N009/go2_arm/dr_on/seed_2067/config.yaml @@ -0,0 +1,581 @@ +env: + sim: + device: cpu + use_fabric: false + decimation: 4 + dt: 0.005 + soft_resets: 2 + scene: + num_envs: 1 + env_spacing: 20 + render: + rendering_mode: performance + enable_reflections: false + enable_global_illumination: false + enable_translucency: false + enable_dl_denoiser: false + physx: + gpu_collision_stack_size: 33554432 + gpu_heap_capacity: 268435456 + seed: 2067 + robot: + Go2Plus: + name: go2plus + type: mobilemanip + common: + pos: + - - -3.5 + - -2.3 + - 0.42000000000000004 + - - -2.9000000000000004 + - -1.7 + - 0.42000000000000004 + ori: + - - 0.0 + - 0.0 + - -20.0 + - - 0.0 + - 0.0 + - 20.0 + initial_joint_pos: null + action: + base_action: ${oc.env:GO2PLUS_BASE_ACTION,unified} + arm_action: ik_curobo + eef_action: binary + reset: default + planner: + dual_mode: true + base_joint_names: + - base_x + - base_y + - base_yaw + - base_height + ik: + type: go2plus + enable: true + ik_num_instances: 1 + ik_batch_size: 1 + ik_num_seeds: 64 + ik_position_threshold: 0.005 + ik_rotation_threshold: 0.05 + microbatch_wait_ms: 20.0 + relative_to_world_frame: false + eef_num: 1 + debug: false + seed_use_live_joint_pos: true + motiongen: + type: go2plus + enable: true + batch_size: 1 + debug: false + motiongen_num_instances: 1 + microbatch_wait_ms: 400.0 + mode: position + relative_to_world_frame: false + eef_num: 1 + seed_use_live_joint_pos: true + anchor_ik_seeds_to_current_state: false + num_trajopt_seeds: 1 + num_ik_seeds: 4 + max_attempts: 4 + joint_limit_retry_weight: 100000000.0 + start_state_limit_inset: 0.002 + body: + type: nav + dwb_type: dwb_quadruped + dwb_quadruped: + device: cpu + dt: 0.02 + debug: false + num_rollout_steps: 60 + num_speed_samples: 11 + num_steer_samples: 11 + num_vx_samples: 7 + num_vy_samples: 7 + num_yaw_samples: 7 + max_accel: 1.5 + max_steer_rate: 1.5 + max_accel_vx: 1.5 + max_accel_vy: 1.5 + max_yaw_accel: 1.5 + w_goal: 6.0 + w_path: 24.0 + w_vel: 0.2 + w_vy: 0.0 + dilate_radius: 0.2 + goal_cost_mode: path + room_size: 12.0 + occupancy_update_interval: 25 + scan_height: 0.38 + scan_min_z: 0.15 + scan_max_z: 0.63 + goal_pos_threshold: 0.1 + 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: 0.39 + 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 + nav: + navmesh: + enabled: true + visualize: false + bake_timeout_s: 180 + agent_height_cm: 65 + min_agent_radius_cm: 30.0 + max_agent_radius_cm: 30.0 + max_step_height_cm: 20 + max_floor_slope_deg: 30 + agent_island_radius_cm: 5 + auto_exclude_rigid_bodies: true + validate_path_clearance: true + validate_path_window: true + navmesh_offset_z_m: 0 + verbose: false + 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: + - 1000 + - 1000 + objects: + table_a: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - 1.2 + - -1.8 + - 0.28 + ori: + - 0 + - 0 + - 0 + scale: + - 0.6 + - 0.9 + - 0.5 + table_a_1: + primitive_params: + size: + - 1 + - 1 + - 1 + 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: + - 2.2 + - 2.0 + - 0.28 + ori: + - 0 + - 0 + - 0 + scale: + - 0.9 + - 0.6 + - 0.5 + table_b_1: + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - 0.55 + - 0.42 + - 0.3 + physics: + type: geometry + collision: true + layer_bottom: + usd: + - $MAGICSIM_ASSETS/Object/DeformableProxy/towel_sheet.usd + random: false + num_per_env: 1 + common: + scale: + - 0.8571428571428572 + - 1.0 + - 0.5 + layer_bottom_1: + pos: + - 1.2 + - -1.8 + - 0.536 + ori: + - 90.0 + - 0.0 + - 0.0 + visual: + color: + - - 0.2 + - 0.45 + - 0.85 + physics: + type: garment + ratio: 1.0 + particle_system: + particle_system_enabled: true + enable_ccd: true + solver_position_iteration_count: 32 + global_self_collision_enabled: true + non_particle_collision_enabled: true + contact_offset: 0.012 + rest_offset: 0.01 + particle_contact_offset: 0.005 + fluid_rest_offset: 0.0025 + solid_rest_offset: 0.0025 + max_velocity: 5.0 + particle_material: + adhesion: 0.1 + particle_adhesion_scale: 0.2 + particle_friction_scale: 0.6 + friction: 1.0 + damping: 0.05 + gravity_scale: 1.0 + garment_config: + particle_mass: 0.001 + self_collision: true + self_collision_filter: true + stretch_stiffness: 100000000.0 + bend_stiffness: 5000.0 + shear_stiffness: 5000.0 + spring_damping: 10.0 + layer_top: + usd: + - $MAGICSIM_ASSETS/Object/DeformableProxy/towel_sheet.usd + random: false + num_per_env: 1 + common: + scale: + - 0.8571428571428572 + - 1.0 + - 0.5 + layer_top_1: + pos: + - 1.14 + - -1.8 + - 0.55 + ori: + - 90.0 + - 0.0 + - 0.0 + visual: + color: + - - 0.95 + - 0.55 + - 0.15 + physics: + type: garment + ratio: 1.0 + particle_system: + particle_system_enabled: true + enable_ccd: true + solver_position_iteration_count: 32 + global_self_collision_enabled: true + non_particle_collision_enabled: true + contact_offset: 0.012 + rest_offset: 0.01 + particle_contact_offset: 0.005 + fluid_rest_offset: 0.0025 + solid_rest_offset: 0.0025 + max_velocity: 5.0 + particle_material: + adhesion: 0.1 + particle_adhesion_scale: 0.2 + particle_friction_scale: 0.6 + friction: 1.0 + damping: 0.05 + gravity_scale: 1.0 + garment_config: + particle_mass: 0.001 + self_collision: true + self_collision_filter: true + stretch_stiffness: 100000000.0 + bend_stiffness: 5000.0 + shear_stiffness: 5000.0 + spring_damping: 10.0 +task: + observation: {} + reward: {} + termination: + timeout_steps: 16000 + success_hold_frames: 3 + fall_height: 0.08 + fall_tilt: 1.0 + station: + level: easy + agent_id: a02 + embodiment: go2_arm + task_version: EXT60-MobileAvatar-v3 + execution_mode: expert_collect + layout: + table_h: 0.5 + standoff: 0.306 + settle_ticks: 80 + hold_ticks: 10 + judge_timeout_ticks: 300 + default_avoid: [] + report_jsonl: /mnt/scratch/xc536_atomic/n009_go2_on_2067/out/reports.jsonl + carried: + type: garment + name: layer_top + id: 0 + tracked: + - type: garment + name: layer_bottom + id: 0 + cloth: + category: layer_top + layers: {} + planner_seeds: lean + cloth_variant: null + record_scene_streams: true +collect: + global_planner: + NavTo: + use_navmesh: true + use_absolute: true + translation_threshold: 0.12 + rotation_threshold: 0.12 + num_path_segments: 30 + start_forward_offset: 0.0 + visualize_path: false + carry_arm: true + MobileMoveL: + translation_threshold: 0.012 + rotation_threshold: 0.25 + motiongen_distance_threshold: 0.05 + timeout_steps: 1800 + 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 + debug: false + debug_viz: false + retry_mobile_on_locked_plan_failure: true + stall_release_ticks: 100 + stall_release_factor: 5.0 + interp_validate_target: true + RetractMoveL: + translation_threshold: 0.06 + rotation_threshold: 0.3 + motiongen_distance_threshold: 0.05 + timeout_steps: 2000 + base_pos_threshold: 0.12 + base_rot_threshold: 0.5 + eef_pos_threshold: 0.03 + eef_rot_threshold: 0.3 + base_waypoint_max_steps: 20 + arm_waypoint_max_steps: 8 + move_strategy_distance_threshold: 0.1 + debug: false + debug_viz: false + ParallelGripper: + gripper_threshold: 0.0005 + timeout_steps: 60 + atomic_skill: + StationNav: + robot_id: 0 + show_marker: false + 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: -1 + grasp_mode: 4 + retrieval_mode: 4 + reactive: false + viz_grasp: false + auto_collect: + max_trajectories: null + record: + output_dir: /mnt/scratch/xc536_atomic/n009_go2_on_2067/out/record + formats: + - lerobot_v21 + - sim_info + clear_buffer_on_failure: true + lerobot: + subsample_every: 2 + command: + StationLayer: + robot_id: 0 + init_limit: 100 + max_attempt: 2 + completion_timeout_steps: 300 + direction: + - -1.0 + - 0.0 + stages: + release_height: 0.01 + settle_ticks: 240 + grasp_tilt_deg: 10.0 + pre_clear: 0.02 + pre_place_hover: 0.06 +env_string: LayerEnv-V0 +visual_dr: + keep: + - layer_top + - layer_bottom diff --git a/N009/go2_arm/dr_on/seed_2067/record/stationlayer/000/completed/0.json b/N009/go2_arm/dr_on/seed_2067/record/stationlayer/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..7ef65a37d6926a90a0de2915d2506c7b8858d404 --- /dev/null +++ b/N009/go2_arm/dr_on/seed_2067/record/stationlayer/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationlayer/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N009/go2_arm/dr_on/seed_2067/record/stationlayer/000/joint_names.json b/N009/go2_arm/dr_on/seed_2067/record/stationlayer/000/joint_names.json new file mode 100644 index 0000000000000000000000000000000000000000..e02c3def1572253a5c8dd96da7e71310fb0b6cd9 --- /dev/null +++ b/N009/go2_arm/dr_on/seed_2067/record/stationlayer/000/joint_names.json @@ -0,0 +1,24 @@ +{ + "Go2Plus": [ + "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" + ] +} \ No newline at end of file diff --git a/N009/go2_arm/dr_on/seed_2067/record/stationlayer/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N009/go2_arm/dr_on/seed_2067/record/stationlayer/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..6de5408e0103935b889c8322b65b18b6e6befd79 --- /dev/null +++ b/N009/go2_arm/dr_on/seed_2067/record/stationlayer/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3980e71610b85814a90b5014a8f89a716e1e9decbc1afe44fbcc66ed3a38e346 +size 34010618 diff --git a/N009/go2_arm/dr_on/seed_2067/record/stationlayer/000/lerobot_v21/meta/episodes.jsonl b/N009/go2_arm/dr_on/seed_2067/record/stationlayer/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e9100422e3b5d48a705bec78cce82c57575aa4c3 --- /dev/null +++ b/N009/go2_arm/dr_on/seed_2067/record/stationlayer/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table."], "length": 1244, "magicsim/control_steps": 2487, "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 layer bottom and a small orange layer top. The gray table b is to the left of the gray table a. The gray layer bottom is in front of the orange layer top. The orange layer top is behind the gray layer bottom. The scene is viewed from front-left, at table height."} diff --git a/N009/go2_arm/dr_on/seed_2067/record/stationlayer/000/lerobot_v21/meta/episodes_stats.jsonl b/N009/go2_arm/dr_on/seed_2067/record/stationlayer/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..886652058e80b5124520750a27b15e7699996940 --- /dev/null +++ b/N009/go2_arm/dr_on/seed_2067/record/stationlayer/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.14586235423814925, 0.021220463368490674, 0.03295532792508662, 0.3722749116480159, 1.0144912663044654, -0.4375764867740045, 0.9052811885953332, 0.37623327419197733, -0.5292287388385253, 0.5591275081565525, -0.08413299850103598, 0.5618971061093248], "std": [0.17437959653793061, 0.07540321353941237, 0.1571325949527541, 0.02391809221964507, 1.2667161027690883, 1.5071754457024789, 0.16717628276261584, 0.18501018142759992, 0.2917634837102629, 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"cloth_probe", "tag": "after_carry", "top_centroid": [1.0089, -1.7329, 0.8931], "top_z_min": 0.7401, "pinch": [0.9929, -1.7365, 0.9959], "pinch_quat": [0.4666, -0.5279, 0.6402, -0.3061], "top_minus_pinch_xy": [0.0159, 0.0036], "lift_centre_off": [0.0509, 0.0056], "zone": [2.2, 2.0], "top_to_zone": 3.9184}, {"tick": 1003, "event": "stage", "stage": "backoff_A", "goal": [0.14399999999999985, -1.8, 0.0], "heading": "goal"}, {"tick": 1077, "event": "stage", "stage": "via_1", "goal": [0.09999999999999987, -0.55, 0.11567180513362084], "heading": "goal"}, {"tick": 1144, "event": "leave_A", "path_m": 3.975650225539217}, {"tick": 1344, "event": "stage", "stage": "approach_B", "goal": [2.2, -0.3059999999999998, 1.5707963267948966], "heading": "path"}, {"tick": 1776, "event": "stage", "stage": "nav_B", "goal": [2.2, 1.3940000000000001, 1.5707963267948966], "heading": "path"}, {"tick": 1992, "event": "enter_B", "path_m": 8.316906024876918}, {"tick": 2061, "event": "stage", "stage": "pre_place", "mode": 1, "goal": [2.1461, 1.8777, 0.8325, 0.5558, -0.8191, 0.124, 0.0693]}, {"tick": 2148, "event": "stage_end", "stage": "pre_place", "outcome": "finished", "pos_err_m": 0.001071835749092504, "l6": [2.1459, 1.8772, 0.8335, 0.54, -0.8295, 0.1271, 0.0655], "arm_q_margin": {"piper_joint1": [0.026, 2.142], "piper_joint2": [2.043, 1.097], "piper_joint3": [-1.962, 1.005], "piper_joint4": [-0.137, 1.608], "piper_joint5": [0.431, 0.789], "piper_joint6": [-1.155, 0.939], "piper_joint7": [0.0, 0.0], "piper_joint8": [-0.0, 0.0]}}, {"tick": 2148, "event": "cloth_probe", "tag": "after_pre_place", "top_centroid": [2.1536, 2.0183, 0.6797], "top_z_min": 0.54, "pinch": [2.1495, 1.992, 0.7821], "pinch_quat": [0.54, -0.8295, 0.1271, 0.0655], "top_minus_pinch_xy": [0.0041, 0.0263], "lift_centre_off": [0.0509, 0.0056], "zone": [2.2, 2.0], "top_to_zone": 0.0499}, {"tick": 2148, "event": "stage", "stage": "place", "mode": 4, "goal": [2.1455, 1.8796, 0.777, 0.54, -0.8295, 0.1271, 0.0655]}, {"tick": 2209, "event": "stage_end", "stage": "place", "outcome": "finished", "pos_err_m": 0.004085004845365702, "l6": [2.1456, 1.8792, 0.7811, 0.5399, -0.8295, 0.1272, 0.0655], "arm_q_margin": {"piper_joint1": [0.024, 2.144], "piper_joint2": [2.066, 1.074], "piper_joint3": [-1.791, 1.176], "piper_joint4": [-0.232, 1.513], "piper_joint5": [0.239, 0.981], "piper_joint6": [-1.054, 1.041], "piper_joint7": [0.0, 0.0], "piper_joint8": [-0.0, 0.0]}}, {"tick": 2220, "event": "cloth_probe", "tag": "after_place", "top_centroid": [2.1614, 2.0215, 0.6369], "top_z_min": 0.5399, "pinch": [2.1493, 1.9941, 0.7253], "pinch_quat": [0.5395, -0.8298, 0.1273, 0.0655], "top_minus_pinch_xy": [0.0121, 0.0274], "lift_centre_off": [0.0509, 0.0056], "zone": [2.2, 2.0], "top_to_zone": 0.0442}, {"tick": 2220, "event": "stage", "stage": "release", "hand": "open"}, {"tick": 2220, "event": "release"}, {"tick": 2273, "event": "cloth_probe", "tag": "after_release", "top_centroid": [2.1926, 2.0415, 0.5614], "top_z_min": 0.5399, "pinch": [2.1495, 1.9933, 0.7255], "pinch_quat": [0.5399, -0.8295, 0.1272, 0.0656], "top_minus_pinch_xy": [0.0431, 0.0482], "lift_centre_off": [0.0509, 0.0056], "zone": [2.2, 2.0], "top_to_zone": 0.0422}, {"tick": 2273, "event": "stage", "stage": "retreat", "mode": 4, "goal": [2.1459, 1.8785, 0.8969, 0.5399, -0.8295, 0.1272, 0.0656]}, {"tick": 2334, "event": "stage_end", "stage": "retreat", "outcome": "finished", "pos_err_m": 0.008865993833420474, "l6": [2.1459, 1.8788, 0.888, 0.5398, -0.8295, 0.1274, 0.0655], "arm_q_margin": {"piper_joint1": [0.028, 2.14], "piper_joint2": [2.16, 0.98], "piper_joint3": [-2.383, 0.584], "piper_joint4": [-0.087, 1.658], "piper_joint5": [0.734, 0.486], "piper_joint6": [-1.214, 0.881], "piper_joint7": [0.035, 0.0], "piper_joint8": [-0.035, 0.0]}}, {"tick": 2334, "event": "cloth_probe", "tag": "after_retreat", "top_centroid": [2.1925, 2.0424, 0.5609], "top_z_min": 0.5399, "pinch": [2.1496, 1.9936, 0.8366], "pinch_quat": [0.5398, -0.8295, 0.1274, 0.0655], "top_minus_pinch_xy": [0.043, 0.0488], "lift_centre_off": [0.0509, 0.0056], "zone": [2.2, 2.0], "top_to_zone": 0.043}, {"tick": 2575, "event": "command_complete"}], "transport_state": "at_B", "transport_history": [[1, "at_A"], [888, "carried"], [2244, "at_B"]], "station_transition_order": ["S", "A", "B"], "interstation_path_lengths": {"A->B": 4.3412557993377}, "interstation_net_m": 3.187191778675708, "distance_to_first_interaction": 3.4872602225066305, "final_approach_pose": [2.152480125427246, 1.3096774816513062, 1.5725027850930005], "regrasp_events": 0, "violations": [], "mobile_checks": {"stood_in_A": true, "stood_in_B_after_A": true, "object_lifted_at_A": true, "interstation_path_long_enough": true, "carried_over_the_transit": true, "no_violation": true}, "mobile_success": true, "task_id": "N009", "task_version": "EXT60-MobileAvatar-v3", "agent_id": "a02", "family_id": "C5", "primary_category": "cloth_layer_separation", "level": "easy", "embodiment": "go2_arm", "scene_seed": 2067, "execution_mode": "expert_collect", "planner_seeds": "lean", "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"], "station_layout": {"start": [-3.2, -2.0, 0.0], "stands": {"A": [0.5939999999999999, -1.8, 0.0], "B": [2.2, 1.3940000000000001, 1.5707963267948966]}, "tables": {"A": {"aabb": [0.8999999999999999, -2.25, 1.5, -1.35], "top_z": 0.53}, "B": {"aabb": [1.7500000000000002, 1.7, 2.6500000000000004, 2.3], "top_z": 0.53}}, "room": [-4.4, 4.4, -3.25, 4.75]}, "manipulation_success": true, "judge": {"ok": true, "reason": "", "numbers": {"bottom_shift_m": 4.4690860007684066e-05, "bottom_max_shift_m": 0.00015746776554223936, "bottom_lift_m": 3.1459171934145047e-09, "top_z_over_table_b": 0.030535481704279666, "top_to_zone_m": 0.04462952877069549, "hand_to_top_m": 0.2575428847067157, "bridge_active": 0.0}}, "full_success": true, "failure_reason": null, "fail_class": null, "material_loss_during_transport": 0.0, "grasp_mode": "attach_bridge", "ticks": 2587, "control_steps": 2133, "attach_events": [{"event": "attach", "at_tick": 831, "opening_m": 0.006670727860182524, "nearest_particle_m": 0.00024248607571893032, "bound": true}, {"event": "release", "at_tick": 2220}], "ticks_bound_with_open_pads": 0, "bottom_layer_max_shift_m": 0.00015746776554223936, "bottom_layer_reference": [1.1999999193706474, -1.7999992405839742, 0.5400001364724054], "top_layer_final_centroid": [2.1925856193410653, 2.044009337619859, 0.5605354817042797], "bottom_layer_final_centroid": [1.2000142036844421, -1.7999568940215678, 0.5400001333264882], "judge_definitions": {"card_bottom_max_shift_m": 0.03, "card_zone_half_width_m": 0.12, "command_min_lift_gain_m": 0.05, "command_min_lift_gain_m_before_n009_p5": 0.1, "command_min_lift_gain_note": "internal progress gate of the Command (mean rise of the top sheet after the lift), not a card threshold: 0.10 m was above lift - hang/2 = 0.08-0.09 m, the most a free-hanging 0.30 m sheet lifted 0.18 m can gain (measured 0.069 / 0.084); lowered to 0.05 m, a test pins it below that ceiling"}, "asset_variant": "stock_proxy_two_sheet"} diff --git a/N009/stretch3/dr_on/seed_2056/check.json b/N009/stretch3/dr_on/seed_2056/check.json new file mode 100644 index 0000000000000000000000000000000000000000..acac6e2cc765645a24467d339c763f37262a480f --- /dev/null +++ b/N009/stretch3/dr_on/seed_2056/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 stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'; expected 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2259 rows vs ceil(4517/2) = 2259" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..4617, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "55.68 MB, 2259 frames at 25 fps, mean luma 77..122, std 18, new picture 2258x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2259 vs 2259" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "59.54 MB, 2259 frames at 25 fps, mean luma 71..142, std 33, new picture 2258x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2259 vs 2259" + }, + "sim_info present": { + "pass": true, + "detail": "record/stationlayer/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N009/stretch3/dr_on/seed_2056/check.txt b/N009/stretch3/dr_on/seed_2056/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..1f6462e09d4bd60c0499989ce3c98975818eb506 --- /dev/null +++ b/N009/stretch3/dr_on/seed_2056/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n009_str_on_2056/out task=N009 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n009_str_on_2056/out/record/stationlayer/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2259 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: 2259 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 stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'; expected 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.' +rows 2259 at dataset fps 25 = 90.36 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2259 rows vs ceil(4517/2) = 2259 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4617, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 55.68 MB, 2259 frames at 25 fps, mean luma 77..122, std 18, new picture 2258x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2259 vs 2259 +[PASS] video observation.images.wrist decodes, 640x480, not black: 59.54 MB, 2259 frames at 25 fps, mean luma 71..142, std 33, new picture 2258x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2259 vs 2259 +parquet size 60.94 MB +[PASS] sim_info present: record/stationlayer/000/sim_info +dataset size 178.66 MB; whole cell dir 244.8 MB +RESULT: ALL PASS diff --git a/N009/stretch3/dr_on/seed_2056/config.yaml b/N009/stretch3/dr_on/seed_2056/config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..73fc34733359ac74e2aecc29c8fe37c58fbdc565 --- /dev/null +++ b/N009/stretch3/dr_on/seed_2056/config.yaml @@ -0,0 +1,556 @@ +env: + sim: + device: cpu + use_fabric: false + decimation: 4 + dt: 0.005 + soft_resets: 2 + scene: + num_envs: 1 + env_spacing: 20 + render: + rendering_mode: performance + enable_reflections: false + enable_global_illumination: false + enable_translucency: false + enable_dl_denoiser: false + physx: + gpu_collision_stack_size: 33554432 + gpu_heap_capacity: 268435456 + seed: 2056 + robot: + HelloRobot: + name: hellorobot + type: mobilemanip + common: + pos: + - - -3.5 + - -2.3 + - 0.06 + - - -2.9000000000000004 + - -1.7 + - 0.06 + ori: + - - 0.0 + - 0.0 + - -20.0 + - - 0.0 + - 0.0 + - 20.0 + initial_joint_pos: + joint_lift: 0.55 + joint_arm_l[0-3]: 0.0 + joint_wrist_yaw: 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 + 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: 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 + start_state_limit_inset: 0.002 + num_trajopt_seeds: 1 + num_ik_seeds: 4 + body: + type: nav + dwb_type: dwb_differential + 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 + 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: 0.25 + room_size: 12.0 + occupancy_update_interval: 25 + scan_height: 0.45 + scan_min_z: 0.22 + scan_max_z: 1.75 + goal_pos_threshold: 0.02 + goal_yaw_threshold: 0.01 + 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 + arm: + type: default + eef: + type: default + physics: + wheel_base: 0.33 + robot_radius: 0.65 + 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: 170 + min_agent_radius_cm: 28.0 + max_agent_radius_cm: 28.0 + 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 + 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: + - 1000 + - 1000 + objects: + table_a: + usd: + - Cube + random: false + num_per_env: 1 + common: + pos: + - 1.2 + - -1.8 + - 0.28 + ori: + - 0 + - 0 + - 0 + scale: + - 0.6 + - 0.9 + - 0.5 + table_a_1: + primitive_params: + size: + - 1 + - 1 + - 1 + 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: + - 2.2 + - 2.0 + - 0.28 + ori: + - 0 + - 0 + - 0 + scale: + - 0.9 + - 0.6 + - 0.5 + table_b_1: + primitive_params: + size: + - 1 + - 1 + - 1 + visual: + color: + - 0.55 + - 0.42 + - 0.3 + physics: + type: geometry + collision: true + layer_bottom: + usd: + - $MAGICSIM_ASSETS/Object/DeformableProxy/towel_sheet.usd + random: false + num_per_env: 1 + common: + scale: + - 0.8571428571428572 + - 1.0 + - 0.5 + layer_bottom_1: + pos: + - 1.2 + - -1.8 + - 0.536 + ori: + - 90.0 + - 0.0 + - 0.0 + visual: + color: + - - 0.2 + - 0.45 + - 0.85 + physics: + type: garment + ratio: 1.0 + particle_system: + particle_system_enabled: true + enable_ccd: true + solver_position_iteration_count: 32 + global_self_collision_enabled: true + non_particle_collision_enabled: true + contact_offset: 0.012 + rest_offset: 0.01 + particle_contact_offset: 0.005 + fluid_rest_offset: 0.0025 + solid_rest_offset: 0.0025 + max_velocity: 5.0 + particle_material: + adhesion: 0.1 + particle_adhesion_scale: 0.2 + particle_friction_scale: 0.6 + friction: 1.0 + damping: 0.05 + gravity_scale: 1.0 + garment_config: + particle_mass: 0.001 + self_collision: true + self_collision_filter: true + stretch_stiffness: 100000000.0 + bend_stiffness: 5000.0 + shear_stiffness: 5000.0 + spring_damping: 10.0 + layer_top: + usd: + - $MAGICSIM_ASSETS/Object/DeformableProxy/towel_sheet.usd + random: false + num_per_env: 1 + common: + scale: + - 0.8571428571428572 + - 1.0 + - 0.5 + layer_top_1: + pos: + - 1.14 + - -1.8 + - 0.55 + ori: + - 90.0 + - 0.0 + - 0.0 + visual: + color: + - - 0.95 + - 0.55 + - 0.15 + physics: + type: garment + ratio: 1.0 + particle_system: + particle_system_enabled: true + enable_ccd: true + solver_position_iteration_count: 32 + global_self_collision_enabled: true + non_particle_collision_enabled: true + contact_offset: 0.012 + rest_offset: 0.01 + particle_contact_offset: 0.005 + fluid_rest_offset: 0.0025 + solid_rest_offset: 0.0025 + max_velocity: 5.0 + particle_material: + adhesion: 0.1 + particle_adhesion_scale: 0.2 + particle_friction_scale: 0.6 + friction: 1.0 + damping: 0.05 + gravity_scale: 1.0 + garment_config: + particle_mass: 0.001 + self_collision: true + self_collision_filter: true + stretch_stiffness: 100000000.0 + bend_stiffness: 5000.0 + shear_stiffness: 5000.0 + spring_damping: 10.0 +task: + observation: {} + reward: {} + termination: + timeout_steps: 16000 + success_hold_frames: 3 + station: + level: easy + agent_id: a02 + embodiment: stretch3 + task_version: EXT60-MobileAvatar-v3 + execution_mode: expert_collect + layout: + table_h: 0.5 + standoff: 0.36 + lateral_a: 0.013 + settle_ticks: 80 + hold_ticks: 10 + judge_timeout_ticks: 300 + default_avoid: [] + report_jsonl: /mnt/scratch/xc536_atomic/n009_str_on_2056/out/reports.jsonl + carried: + type: garment + name: layer_top + id: 0 + tracked: + - type: garment + name: layer_bottom + id: 0 + cloth: + category: layer_top + layers: {} + planner_seeds: lean + cloth_variant: null + record_scene_streams: true +collect: + global_planner: + NavTo: + use_navmesh: true + use_absolute: true + translation_threshold: 0.03 + rotation_threshold: 0.02 + num_path_segments: 30 + start_forward_offset: 0.0 + visualize_path: false + carry_arm: true + MobileMoveL: + translation_threshold: 0.006 + rotation_threshold: 0.1 + motiongen_distance_threshold: 0.0 + timeout_steps: 1500 + reactive: false + base_pos_threshold: 0.025 + base_rot_threshold: 0.05 + eef_pos_threshold: 0.02 + eef_rot_threshold: 0.25 + waypoint_max_steps: 60 + interp_steps: 100 + debug: false + debug_viz: false + RetractMoveL: + translation_threshold: 0.02 + rotation_threshold: 0.2 + motiongen_distance_threshold: 0.05 + timeout_steps: 1800 + base_pos_threshold: 0.12 + base_rot_threshold: 0.5 + eef_pos_threshold: 0.03 + eef_rot_threshold: 0.3 + base_waypoint_max_steps: 20 + arm_waypoint_max_steps: 8 + move_strategy_distance_threshold: 0.1 + debug: false + debug_viz: false + ParallelGripper: + gripper_threshold: 0.0005 + timeout_steps: 100 + atomic_skill: + StationNav: + robot_id: 0 + show_marker: false + 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: 25 + ramp_steps: 0 + Grasp: + pre_grasp_offset: 0.1 + retrieval_offset: 0.1 + mobile: true + pre_grasp_planner: MobileMoveL + pre_grasp_mode: -1 + grasp_mode: 4 + retrieval_mode: 4 + reactive: false + viz_grasp: false + auto_collect: + max_trajectories: null + record: + output_dir: /mnt/scratch/xc536_atomic/n009_str_on_2056/out/record + formats: + - lerobot_v21 + - sim_info + clear_buffer_on_failure: true + lerobot: + subsample_every: 2 + command: + StationLayer: + robot_id: 0 + init_limit: 100 + max_attempt: 2 + completion_timeout_steps: 300 + direction: + - -1.0 + - 0.0 + stages: + release_height: 0.01 + settle_ticks: 240 + offset_follows_hand: true + grasp_tilt_deg: 3.0 +env_string: LayerEnv-V0 +visual_dr: + keep: + - layer_top + - layer_bottom diff --git a/N009/stretch3/dr_on/seed_2056/record/stationlayer/000/completed/0.json b/N009/stretch3/dr_on/seed_2056/record/stationlayer/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..7ef65a37d6926a90a0de2915d2506c7b8858d404 --- /dev/null +++ b/N009/stretch3/dr_on/seed_2056/record/stationlayer/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationlayer/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N009/stretch3/dr_on/seed_2056/record/stationlayer/000/joint_names.json b/N009/stretch3/dr_on/seed_2056/record/stationlayer/000/joint_names.json new file mode 100644 index 0000000000000000000000000000000000000000..03f0435da63e07886efa853b734a5125b53de3fe --- /dev/null +++ b/N009/stretch3/dr_on/seed_2056/record/stationlayer/000/joint_names.json @@ -0,0 +1,19 @@ +{ + "HelloRobot": [ + "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" + ] +} \ No newline at end of file diff --git a/N009/stretch3/dr_on/seed_2056/record/stationlayer/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N009/stretch3/dr_on/seed_2056/record/stationlayer/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..189b33527bf980af18f01d01eb3990daf6facc58 --- /dev/null +++ b/N009/stretch3/dr_on/seed_2056/record/stationlayer/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aaf65687b72d0c7858cfc13f2aec87038c2faea6039a5c8aa257d6ce1b68f893 +size 60944170 diff --git a/N009/stretch3/dr_on/seed_2056/record/stationlayer/000/lerobot_v21/meta/episodes.jsonl b/N009/stretch3/dr_on/seed_2056/record/stationlayer/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..2059ed8457253b4cf4f9151f4671b1232aadac64 --- /dev/null +++ b/N009/stretch3/dr_on/seed_2056/record/stationlayer/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table."], "length": 2259, "magicsim/control_steps": 4517, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the gray table b. There are a large gray table a, a large gray table b, a small gray layer bottom and a small orange layer top. The gray table b is to the left of the gray table a. The gray layer bottom is in front of the orange layer top. The orange layer top is behind the gray layer bottom. The scene is viewed from front-left, slightly above table height."} diff --git a/N009/stretch3/dr_on/seed_2056/record/stationlayer/000/lerobot_v21/meta/episodes_stats.jsonl b/N009/stretch3/dr_on/seed_2056/record/stationlayer/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..7da483bb42c11fd65b98184658ea5129db719b70 --- /dev/null +++ b/N009/stretch3/dr_on/seed_2056/record/stationlayer/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.10381494296385671, 0.0, 0.03400630233071385, 1.0002095934453792, -0.6493412488762285, 0.8600127220206579, -0.4441603423879969, 0.24003905667663564, -0.15121574108158245, -0.15321423028582964, 0.5967242142540947], "std": [0.13195714145837104, 0.0, 0.2720274902171308, 1.3107487894962013, 1.4106448820142758, 0.14024836459820736, 0.4712383305104102, 0.431902594896765, 0.30972087891398237, 0.44071469714389383, 0.49055522255595185], "min": 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0.369], "joint_head_pan": [-0.0, 1.5], "joint_head_tilt": [0.0, 0.79], "joint_arm_l3": [0.085, 0.045], "joint_arm_l2": [0.085, 0.045], "joint_arm_l1": [0.085, 0.045], "joint_arm_l0": [0.085, 0.045], "joint_wrist_yaw": [0.976, 2.726], "joint_wrist_pitch": [-1.478, 0.092], "joint_wrist_roll": [-0.643, 2.497], "joint_gripper_finger_left": [0.25, -0.0], "joint_gripper_finger_right": [0.25, 0.0]}}, {"tick": 1393, "event": "stage", "stage": "pinch", "mode": 4, "goal": [1.0045, -1.8, 0.554, 0.5127, -0.5132, 0.487, 0.4865]}, {"tick": 1493, "event": "stage_end", "stage": "pinch", "outcome": "finished", "pos_err_m": 0.005015484723309852, "l6": [1.0044, -1.8046, 0.556, -0.5143, 0.5111, -0.4847, -0.4892], "arm_q_margin": {"joint_lift": [0.633, 0.467], "joint_head_pan": [-0.0, 1.5], "joint_head_tilt": [-0.0, 0.79], "joint_arm_l3": [0.087, 0.043], "joint_arm_l2": [0.087, 0.043], "joint_arm_l1": [0.087, 0.043], "joint_arm_l0": [0.087, 0.043], "joint_wrist_yaw": [0.168, 1.918], "joint_wrist_pitch": [-1.519, 0.051], "joint_wrist_roll": [-1.423, 1.717], "joint_gripper_finger_left": [0.25, 0.0], "joint_gripper_finger_right": [0.25, 0.0]}}, {"tick": 1499, "event": "stage", "stage": "close", "hand": "close"}, {"tick": 1505, "event": "object_first_moved", "path_m": 3.9663454624872343}, {"tick": 1523, "event": "attach", "at_tick": 1523, "opening_m": 0.001312820939347148, "nearest_particle_m": 0.0019034303909619907, "bound": true}, {"tick": 1542, "event": "stage", "stage": "lift", "mode": 4, "goal": [0.9999, -1.8038, 0.7327, 0.6089, -0.6158, 0.3556, 0.3516]}, {"tick": 1597, "event": "lifted", "z_gain": 0.030392640749389743}, {"tick": 1642, "event": "stage_end", "stage": "lift", "outcome": "finished", "pos_err_m": 0.00492516553468362, "l6": [1.0001, -1.8028, 0.7278, -0.6053, 0.6118, -0.362, -0.3581], "arm_q_margin": {"joint_lift": [0.782, 0.318], "joint_head_pan": [-0.0, 1.5], "joint_head_tilt": [-0.0, 0.79], "joint_arm_l3": [0.056, 0.056], "joint_arm_l2": [0.056, 0.056], "joint_arm_l1": [0.056, 0.056], "joint_arm_l0": [0.056, 0.056], "joint_wrist_yaw": [-0.0, 1.75], "joint_wrist_pitch": [-1.068, 0.502], "joint_wrist_roll": [-1.593, 1.547], "joint_gripper_finger_left": [-0.0, -0.0], "joint_gripper_finger_right": [0.0, 0.0]}}, {"tick": 1663, "event": "lift_check", "top_gain": 0.0843140905294344, "bottom_shift": 0.009190050657760981, "hang": 0.18403717621917703}, {"tick": 1663, "event": "stage", "stage": "carry", "mode": 1, "goal": [1.0158, -1.7819, 0.9887, -0.6088, 0.6158, -0.3557, -0.3516]}, {"tick": 1808, "event": "stage_end", "stage": "carry", "outcome": "finished", "pos_err_m": 0.003098813774707804, "l6": [1.0158, -1.785, 0.9887, -0.6105, 0.6089, -0.3286, -0.3855], "arm_q_margin": {"joint_lift": [1.042, 0.058], "joint_head_pan": [0.0, 1.5], "joint_head_tilt": [0.0, 0.79], "joint_arm_l3": [0.06, 0.06], "joint_arm_l2": [0.06, 0.06], "joint_arm_l1": [0.06, 0.06], "joint_arm_l0": [0.06, 0.06], "joint_wrist_yaw": [0.163, 1.913], "joint_wrist_pitch": [-1.057, 0.513], "joint_wrist_roll": [-1.484, 1.656], "joint_gripper_finger_left": [0.0, 0.0], "joint_gripper_finger_right": [0.0, 0.0]}}, {"tick": 1808, "event": "cloth_probe", "tag": "after_carry", "top_centroid": [1.0507, -1.7776, 0.8685], "top_z_min": 0.7136, "pinch": [1.0206, -1.7842, 0.98], "pinch_quat": [-0.1993, 0.7032, -0.664, 0.1579], "top_minus_pinch_xy": [0.0301, 0.0067], "lift_centre_off": [0.058, 0.001], "zone": [2.2, 2.0], "top_to_zone": 3.9485}, {"tick": 1808, "event": "stage", "stage": "backoff_A", "goal": [0.08999999999999991, -1.7670000000000001, 3.141592653589793], "heading": "path"}, {"tick": 1860, "event": "leave_A", "path_m": 3.9663454624872343}, {"tick": 2179, "event": "stage", "stage": "via_1", "goal": [0.09999999999999987, -0.55, 0.09109335054594245], "heading": "path"}, {"tick": 2743, "event": "stage", "stage": "approach_B", "goal": [2.18, -0.35999999999999965, 1.5707963267948966], "heading": "path"}, {"tick": 3395, "event": "stage", "stage": "nav_B", "goal": [2.18, 1.3400000000000003, 3.141592653589793], "heading": "path"}, {"tick": 3861, "event": "enter_B", "path_m": 9.379583663026837}, {"tick": 3969, "event": "stage", "stage": "pre_place", "mode": 1, "goal": [2.2056, 1.9373, 0.8327, -0.1591, 0.6629, 0.1982, -0.7043]}, {"tick": 4085, "event": "stage_end", "stage": "pre_place", "outcome": "finished", "pos_err_m": 0.0012840581494720613, "l6": [2.2044, 1.9374, 0.8328, -0.1613, 0.6739, 0.1632, -0.7023], "arm_q_margin": {"joint_lift": [0.891, 0.209], "joint_head_pan": [-0.0, 1.5], "joint_head_tilt": [-0.0, 0.79], "joint_arm_l3": [0.093, 0.037], "joint_arm_l2": [0.093, 0.037], "joint_arm_l1": [0.093, 0.037], "joint_arm_l0": [0.093, 0.037], "joint_wrist_yaw": [0.108, 1.858], "joint_wrist_pitch": [-1.106, 0.464], "joint_wrist_roll": [-1.485, 1.655], "joint_gripper_finger_left": [0.0, 0.0], "joint_gripper_finger_right": [0.0, 0.0]}}, {"tick": 4085, "event": "cloth_probe", "tag": "after_pre_place", "top_centroid": [2.1989, 1.9678, 0.7109], "top_z_min": 0.5556, "pinch": [2.204, 1.9418, 0.8238], "pinch_quat": [-0.2294, 0.9731, 0.0013, -0.0201], "top_minus_pinch_xy": [-0.0051, 0.0259], "lift_centre_off": [0.058, 0.001], "zone": [2.2, 2.0], "top_to_zone": 0.0322}, {"tick": 4085, "event": "stage", "stage": "place", "mode": 4, "goal": [2.202, 1.9375, 0.733, -0.1613, 0.6739, 0.1632, -0.7023]}, {"tick": 4185, "event": "stage_end", "stage": "place", "outcome": "finished", "pos_err_m": 0.0029816414011536617, "l6": [2.2043, 1.9375, 0.735, -0.1613, 0.6738, 0.1632, -0.7024], "arm_q_margin": {"joint_lift": [0.793, 0.307], "joint_head_pan": [0.0, 1.5], "joint_head_tilt": [-0.0, 0.79], "joint_arm_l3": [0.093, 0.037], "joint_arm_l2": [0.093, 0.037], "joint_arm_l1": [0.093, 0.037], "joint_arm_l0": [0.093, 0.037], "joint_wrist_yaw": [0.109, 1.859], "joint_wrist_pitch": [-1.106, 0.464], "joint_wrist_roll": [-1.484, 1.656], "joint_gripper_finger_left": [0.0, 0.0], "joint_gripper_finger_right": [0.0, 0.0]}}, {"tick": 4196, "event": "cloth_probe", "tag": "after_place", "top_centroid": [2.1946, 1.9542, 0.6268], "top_z_min": 0.54, "pinch": [2.2038, 1.9419, 0.724], "pinch_quat": [-0.2294, 0.9731, 0.0014, -0.0203], "top_minus_pinch_xy": [-0.0093, 0.0123], "lift_centre_off": [0.058, 0.001], "zone": [2.2, 2.0], "top_to_zone": 0.0461}, {"tick": 4196, "event": "stage", "stage": "release", "hand": "open"}, {"tick": 4196, "event": "release"}, {"tick": 4264, "event": "cloth_probe", "tag": "after_release", "top_centroid": [2.1732, 1.9512, 0.5667], "top_z_min": 0.5399, "pinch": [2.2038, 1.942, 0.724], "pinch_quat": [-0.2294, 0.9731, 0.0014, -0.0203], "top_minus_pinch_xy": [-0.0306, 0.0093], "lift_centre_off": [0.058, 0.001], "zone": [2.2, 2.0], "top_to_zone": 0.0556}, {"tick": 4264, "event": "stage", "stage": "retreat", "mode": 4, "goal": [2.2042, 1.9375, 0.853, -0.1612, 0.6737, 0.1632, -0.7024]}, {"tick": 4364, "event": "stage_end", "stage": "retreat", "outcome": "finished", "pos_err_m": 0.002414281406515673, "l6": [2.2042, 1.9375, 0.8506, -0.1612, 0.6737, 0.1632, -0.7024], "arm_q_margin": {"joint_lift": [0.909, 0.191], "joint_head_pan": [-0.0, 1.5], "joint_head_tilt": [0.0, 0.79], "joint_arm_l3": [0.093, 0.037], "joint_arm_l2": [0.093, 0.037], "joint_arm_l1": [0.093, 0.037], "joint_arm_l0": [0.093, 0.037], "joint_wrist_yaw": [0.109, 1.859], "joint_wrist_pitch": [-1.106, 0.464], "joint_wrist_roll": [-1.484, 1.656], "joint_gripper_finger_left": [0.25, 0.0], "joint_gripper_finger_right": [0.25, 0.0]}}, {"tick": 4364, "event": "cloth_probe", "tag": "after_retreat", "top_centroid": [2.173, 1.9527, 0.5659], "top_z_min": 0.5399, "pinch": [2.2038, 1.942, 0.8416], "pinch_quat": [-0.2294, 0.9731, 0.0014, -0.0203], "top_minus_pinch_xy": [-0.0309, 0.0107], "lift_centre_off": [0.058, 0.001], "zone": [2.2, 2.0], "top_to_zone": 0.0545}, {"tick": 4605, "event": "command_complete"}], "transport_state": "at_B", "transport_history": [[1, "at_A"], [1597, "carried"], [4209, "at_B"]], "station_transition_order": ["S", "A", "B"], "interstation_path_lengths": {"A->B": 5.4132382005396025}, "interstation_net_m": 3.510227159808541, "distance_to_first_interaction": 3.9663454624872343, "final_approach_pose": [2.1817195415496826, 1.3202732801437378, 3.1220268782303107], "regrasp_events": 0, "violations": [], "mobile_checks": {"stood_in_A": true, "stood_in_B_after_A": true, "object_lifted_at_A": true, "interstation_path_long_enough": true, "carried_over_the_transit": true, "no_violation": true}, "mobile_success": true, "task_id": "N009", "task_version": "EXT60-MobileAvatar-v3", "agent_id": "a02", "family_id": "C5", "primary_category": "cloth_layer_separation", "level": "easy", "embodiment": "stretch3", "scene_seed": 2056, "execution_mode": "expert_collect", "planner_seeds": "lean", "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"], "station_layout": {"start": [-3.2, -2.0, 0.0], "stands": {"A": [0.5399999999999999, -1.7670000000000001, 1.5707963267948966], "B": [2.18, 1.3400000000000003, 3.141592653589793]}, "tables": {"A": {"aabb": [0.8999999999999999, -2.25, 1.5, -1.35], "top_z": 0.53}, "B": {"aabb": [1.7500000000000002, 1.7, 2.6500000000000004, 2.3], "top_z": 0.53}}, "room": [-4.4, 4.4, -3.25, 4.75]}, "manipulation_success": true, "judge": {"ok": true, "reason": "", "numbers": {"bottom_shift_m": 0.009185346107873459, "bottom_max_shift_m": 0.009282916182062043, "bottom_lift_m": 8.011602492530301e-09, "top_z_over_table_b": 0.03477095563171784, "top_to_zone_m": 0.05486357060093086, "hand_to_top_m": 0.24407942494932916, "bridge_active": 0.0}}, "full_success": true, "failure_reason": null, "fail_class": null, "material_loss_during_transport": 0.0, "grasp_mode": "attach_bridge", "ticks": 4617, "control_steps": 4163, "attach_events": [{"event": "attach", "at_tick": 1523, "opening_m": 0.001312820939347148, "nearest_particle_m": 0.0019034303909619907, "bound": true}, {"event": "release", "at_tick": 4196}], "ticks_bound_with_open_pads": 0, "bottom_layer_max_shift_m": 0.009282916182062043, "bottom_layer_reference": [1.2000013217465737, -1.8000008002038912, 0.5400001438548244], "top_layer_final_centroid": [2.1719468188683346, 1.952850976601023, 0.5647709556317179], "bottom_layer_final_centroid": [1.1908196189859603, -1.8002594844461075, 0.5400001358432219], "judge_definitions": {"card_bottom_max_shift_m": 0.03, "card_zone_half_width_m": 0.12, "command_min_lift_gain_m": 0.05, "command_min_lift_gain_m_before_n009_p5": 0.1, "command_min_lift_gain_note": "internal progress gate of the Command (mean rise of the top sheet after the lift), not a card threshold: 0.10 m was above lift - hang/2 = 0.08-0.09 m, the most a free-hanging 0.30 m sheet lifted 0.18 m can gain (measured 0.069 / 0.084); lowered to 0.05 m, a test pins it below that ceiling"}, "asset_variant": "stock_proxy_two_sheet"} diff --git a/N034/go2_arm/dr_on/seed_2081/check.json b/N034/go2_arm/dr_on/seed_2081/check.json new file mode 100644 index 0000000000000000000000000000000000000000..364182ed74066563854715be831ae36f1c060fff --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2081/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: '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": "1896 rows vs ceil(3791/2) = 1896" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 101..3891, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "30.62 MB, 1896 frames at 25 fps, mean luma 61..92, std 41, new picture 1895x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1896 vs 1896" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "43.19 MB, 1896 frames at 25 fps, mean luma 56..151, std 27, new picture 1895x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1896 vs 1896" + }, + "sim_info present": { + "pass": true, + "detail": "rec/stationbookend/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N034/go2_arm/dr_on/seed_2081/check.txt b/N034/go2_arm/dr_on/seed_2081/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..02a159945e7cccaf47c5b62c51b06c69c59319e0 --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2081/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n034_go2_on_2081_r2/out task=N034 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n034_go2_on_2081_r2/out/rec/stationbookend/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1896 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: 1896 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: '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 1896 at dataset fps 25 = 75.84 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1896 rows vs ceil(3791/2) = 1896 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..3891, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 30.62 MB, 1896 frames at 25 fps, mean luma 61..92, std 41, new picture 1895x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1896 vs 1896 +[PASS] video observation.images.wrist decodes, 640x480, not black: 43.19 MB, 1896 frames at 25 fps, mean luma 56..151, std 27, new picture 1895x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1896 vs 1896 +parquet size 7.06 MB +[PASS] sim_info present: rec/stationbookend/000/sim_info +dataset size 81.14 MB; whole cell dir 82.9 MB +RESULT: ALL PASS diff --git a/N034/go2_arm/dr_on/seed_2081/rec/stationbookend/000/completed/0.json b/N034/go2_arm/dr_on/seed_2081/rec/stationbookend/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..92774b53003e83bf90b8dbc14d938d81cff5769c --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2081/rec/stationbookend/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stationbookend/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/go2_arm/dr_on/seed_2081/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N034/go2_arm/dr_on/seed_2081/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..df239d0b56f3fb3e33c286d31f7484f27176e7ea --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2081/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bdbe96b7d9bd4f9dc73751af5192280317729e93f34d33ed58dad869cc94c567 +size 7056106 diff --git a/N034/go2_arm/dr_on/seed_2081/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl b/N034/go2_arm/dr_on/seed_2081/rec/stationbookend/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..1e387afd2daf66c213bb2cb0da9cdeeae484b7ee --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2081/rec/stationbookend/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": 1896, "magicsim/control_steps": 3791, "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 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 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/go2_arm/dr_on/seed_2081/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl b/N034/go2_arm/dr_on/seed_2081/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..9cb2e10b35a1c2ec83f79ed2f67f17a05879063f --- /dev/null +++ b/N034/go2_arm/dr_on/seed_2081/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.10017375653031978, -0.001888234915412208, 0.009500040287124424, 0.3239763021972109, 0.7993001393848079, 1.2222249945586368, 0.648995360823246, 0.09316979785081891, -0.4604772589422904, 0.8351598135844062, 0.06344979647182979, 0.6693037974683544], "std": [0.13623892385407083, 0.022474849752317522, 0.2326232816049697, 0.032421076604377194, 1.3825367577322187, 1.6508017044635412, 0.06293048674434423, 0.044455704056417335, 0.2478931437720366, 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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 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 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 [slo[book]t]\n\n\n\n[robot]" + }, + "task": { + "task_type": "StationBookend", + "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": 1.5518172637289407, + "support": null + }, + "generic_instruction": "Stationbookend the 1.5518172637289407.", + "task_id": "N034", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0529": { + "frame_idx": 529, + "caption": "Computing a grasp pose for the small red book; the right gripper is below and to the left of and in front of the red book.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + 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is below and to the left of and in front of the red book.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "computing", + "planner": "MobileServoL", + "planner_state": "finished", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0872": { + "frame_idx": 872, + "caption": "Pre-grasping the small red book, moving the arm toward it; the right gripper is below and to the left of and in front of the red book.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "book_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0905": { + "frame_idx": 905, + "caption": "Pre-grasping the small red book, moving the arm toward it; the right gripper is below and in front of the red book.", + "skill": "Grasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + 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