diff --git a/N023/sawyer_umi/dr_off/seed_1003/check.json b/N023/sawyer_umi/dr_off/seed_1003/check.json new file mode 100644 index 0000000000000000000000000000000000000000..21fb2317428e4ee1db199ae7ba0bafd6d3fab052 --- /dev/null +++ b/N023/sawyer_umi/dr_off/seed_1003/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 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 = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "890 rows vs ceil(1780/2) = 890" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..1809, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "8.89 MB, 890 frames at 25 fps, mean luma 118..139, std 40, new picture 889x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "890 vs 890" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "14.68 MB, 890 frames at 25 fps, mean luma 115..164, std 42, new picture 889x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "890 vs 890" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N023/sawyer_umi/dr_off/seed_1003/check.txt b/N023/sawyer_umi/dr_off/seed_1003/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..684babc259742783d0f982e68f5225ce272385d5 --- /dev/null +++ b/N023/sawyer_umi/dr_off/seed_1003/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n023_saw_off_1003/out task=N023 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n023_saw_off_1003/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 890 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: 890 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 890 at dataset fps 25 = 35.60 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 890 rows vs ceil(1780/2) = 890 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..1809, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 8.89 MB, 890 frames at 25 fps, mean luma 118..139, std 40, new picture 889x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 890 vs 890 +[PASS] video observation.images.wrist decodes, 640x480, not black: 14.68 MB, 890 frames at 25 fps, mean luma 115..164, std 42, new picture 889x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 890 vs 890 +parquet size 1.03 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 24.77 MB; whole cell dir 25.3 MB +RESULT: ALL PASS diff --git a/N023/sawyer_umi/dr_off/seed_1003/report.json b/N023/sawyer_umi/dr_off/seed_1003/report.json new file mode 100644 index 0000000000000000000000000000000000000000..0650d97a60a696cd0ad100b8cd0c6c29677b217b --- /dev/null +++ b/N023/sawyer_umi/dr_off/seed_1003/report.json @@ -0,0 +1,1284 @@ +{ + "task": "N023", + "agent_id": null, + "embodiment": "sawyer_umi", + "level": "easy", + "scene_seed": 1003, + "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)", + "config": "/mnt/scratch/xc536_atomic_local/repo_30762bb60/src/magicsim/Collect/Task/MobileAssembly/Conf/n023_pen_cap.yaml", + "full_success": true, + "failure_reason": null, + "dr": { + "seed": 1003, + "pen_cap": { + "dx": 0.01337, + "dy": 0.05312, + "yaw_deg": -7.22378 + }, + "cap_mass": 0.0183, + "light": 999.4869, + 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"pos": [ + -3.54189, + -2.53448, + 0.06 + ], + "ori": [ + 0.851464569568634, + 0.0, + 0.0, + 0.5244120955467224 + ] + }, + "facing_yaw_deg": 63.25734783705835, + "gripper": "parallel gripper" + } + ], + "lighting": [], + "background": { + "name": null, + "kind": "background", + "type": "dome", + "pose": null, + "setting": null, + "time_of_day": null, + "indoor": false, + "intensity": 999.4869, + "ambient": "dim" + }, + "effects": [], + "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 to the left 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.", + "layout_ascii": " +x forward / +y left (top-down view)\n[cap][pen holder]\n\n\n\n\n\n\n\n [robot]" + }, + "task": { + "task_type": "StationAssembly", + "instruction": "Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.", + "template_id": -1, + "slots": { + "obj": 1.5707963267948966, + "support": null + }, + "generic_instruction": "Stationassembly the 1.5707963267948966.", + "task_id": "N023", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_0640": { + "frame_idx": 640, + "caption": "Computing a grasp pose for the small cap; the right gripper is below and to the left of and in front of the cap.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavTo", + "planner_state": "finished", + "target": "cap_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0648": { + "frame_idx": 648, + "caption": "Working on the small cap; the right gripper is below and to the left of and in front of the cap.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "cap_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "in_front_of" + ] + }, + "frame_0685": { + "frame_idx": 685, + "caption": "Working on the small cap; the right gripper is below and in front of the cap.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "cap_1", + "hand_id": 0, + "eef_relation": [ + "below", + "in_front_of" + ] + }, + "frame_0766": { + "frame_idx": 766, + "caption": "Working on the small cap; the right gripper is below and to the right of and in front of the cap.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "cap_1", + "hand_id": 0, + "eef_relation": [ + "below", + "right_of", + "in_front_of" + ] + }, + "frame_0800": { + "frame_idx": 800, + "caption": "Working on the small cap; the right gripper is below and to the right of the cap.", + "skill": "AssemblyGrasp", + "phase": "pre_grasp", + "skill_state": "running", + "planner": "MobileMoveL", + "planner_state": "running", + "target": "cap_1", + "hand_id": 0, + "eef_relation": [ + "below", + "right_of" + ] + }, + "frame_1031": { + "frame_idx": 1031, + "caption": "Done — the small cap is grasped; the right gripper is below and to the right of the cap.", + "skill": "Grasp", + "phase": "completed", + "skill_state": "finished", + "planner": "ParallelGripper", + "planner_state": "finished", + "target": "cap_1", + "hand_id": 0, + "eef_relation": [ + "below", + "right_of" + ] + }, + "frame_1032": { + "frame_idx": 1032, + "caption": "Working on the small cap; the right gripper is below and to the right of the cap.", + "skill": "AssemblyInsert", + "phase": "wp:start", + "skill_state": "running", + "planner": "AssemblyServoL", + "planner_state": "running", + "target": "cap_1", + "hand_id": 0, + "eef_relation": [ + "below", + "right_of" + ] + }, + "frame_1063": { + "frame_idx": 1063, + "caption": "Working on the small cap; the right gripper is below and to the right of and in front of the cap.", + "skill": "AssemblyInsert", + "phase": "wp:pull", + "skill_state": "running", + "planner": "AssemblyServoL", + "planner_state": "running", + "target": "cap_1", + "hand_id": 0, + "eef_relation": [ + "below", + "right_of", + "in_front_of" + ] + }, + "frame_1142": { + "frame_idx": 1142, + "caption": "Working on the small cap; the right gripper is below and to the right of the cap.", + "skill": "AssemblyInsert", + "phase": "wp:turn", + "skill_state": "running", + "planner": "AssemblyServoL", + "planner_state": "running", + "target": "cap_1", + "hand_id": 0, + "eef_relation": [ + "below", + "right_of" + ] + }, + "frame_1208": { + "frame_idx": 1208, + "caption": "Working on the small cap; the right gripper is below and to the right of and behind the cap.", + "skill": "AssemblyInsert", + "phase": "wp:turn", + "skill_state": "running", + "planner": "AssemblyServoL", + "planner_state": "running", + "target": "cap_1", + "hand_id": 0, + "eef_relation": [ + "below", + "right_of", + "behind" + ] + }, + "frame_1211": { + "frame_idx": 1211, + "caption": "Working on the small cap; the right gripper is below and behind the cap.", + "skill": "AssemblyInsert", + "phase": "wp:turn", + "skill_state": "running", + "planner": "AssemblyServoL", + "planner_state": "running", + "target": "cap_1", + "hand_id": 0, + "eef_relation": [ + "below", + "behind" + ] + }, + "frame_1277": { + "frame_idx": 1277, + "caption": "Working on the small cap; the right gripper is below and to the left of and behind the cap.", + "skill": "AssemblyInsert", + "phase": "wp:turn", + "skill_state": "running", + "planner": "AssemblyServoL", + "planner_state": "running", + "target": "cap_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of", + "behind" + ] + }, + "frame_1321": { + "frame_idx": 1321, + "caption": "Working on the small cap; the right gripper is below and to the left of the cap.", + "skill": "AssemblyInsert", + "phase": "wp:turn", + "skill_state": "running", + "planner": "AssemblyServoL", + "planner_state": "running", + "target": "cap_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1354": { + "frame_idx": 1354, + "caption": "Working on the small cap; the right gripper is below the cap.", + "skill": "AssemblyInsert", + "phase": "wp:turn", + "skill_state": "running", + "planner": "AssemblyServoL", + "planner_state": "running", + "target": "cap_1", + "hand_id": 0, + "eef_relation": [ + "below" + ] + }, + "frame_1396": { + "frame_idx": 1396, + "caption": "Working on the small cap; the right gripper is below and to the left of the cap.", + "skill": "AssemblyInsert", + "phase": "wp:over_tail", + "skill_state": "running", + "planner": "AssemblyServoL", + "planner_state": "running", + "target": "cap_1", + "hand_id": 0, + "eef_relation": [ + "below", + "left_of" + ] + }, + "frame_1429": { + "frame_idx": 1429, + "caption": "Working on the small cap; the right gripper is below and to the left of and behind the cap.", + "skill": "AssemblyInsert", + "phase": "wp:over_tail", + "skill_state": "running", + "planner": "AssemblyServoL", + "planner_state": "running", + "target": "cap_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/N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/lerobot_v21/meta/info.json b/N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..186baded81b5767dc1e6961e91c052463e7a9ed0 --- /dev/null +++ b/N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/lerobot_v21/meta/info.json @@ -0,0 +1,268 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 890, + "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": { + 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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/N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json b/N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..fae96aad02f959fcc5aba9c6dbb94c25a239ca66 --- /dev/null +++ b/N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-09 16:00:36" + }, + "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", + 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a/N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/sim_info/0/actions.npz b/N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..4626ee9e693207dab230b7efbdffc4cfa14ff2cb --- /dev/null +++ b/N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:03c52d18a191f02ed9897301e9010181a0a24614fb8242aa0d31210b5bafd2c6 +size 226088 diff --git a/N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/sim_info/0/device_commands.jsonl b/N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/sim_info/0/device_events.jsonl b/N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/sim_info/0/scene_snapshot.json b/N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..759bd97424d518a025a2518fc4a67442e7a8518e --- /dev/null +++ b/N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,269 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationassembly/000", + "task_type": "StationAssembly", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -2.0, + 1.5, + 0.23 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.78, + 0.72, + 0.62 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + } + }, + "type_specific": {} + } + ], + "pen_holder": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_30762bb60/Assets/Object/MobileAssembly/pen_holder_a05/Object.usd", + "pose": { + "pos": [ + -1.98663, + 1.40312, + 0.48 + ], + "ori": [ + 0.9980136752128601, + 0.0, + 0.0, + -0.06299763172864914 + ], + "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": {} + } + ], + "cap": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_30762bb60/Assets/Object/MobileAssembly/cap_a05/Object.usd", + "pose": { + "pos": [ + -2.0714502334594727, + 1.4138681888580322, + 0.47890183329582214 + ], + "ori": [ + 0.9980093240737915, + -0.0019325613975524902, + 0.00011598505079746246, + -0.06303619593381882 + ], + "scale": [ + 1.0, + 1.0, + 1.0 + ] + }, + "dr": { + "visual": { + "kind": null, + "value": null, + "visible": true + }, + "physics": { + "type": "rigid", + "collision": true, + "mass": 0.0183, + "physics_material": { + "static_friction": 0.6, + "dynamic_friction": 0.5, + "restitution": 0.0 + }, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + -0.00015116938448045403, + -0.0007732481462880969, + -3.2526542781852186e-05 + ], + "angular_velocity": [ + -0.055039867758750916, + 0.014286408200860023, + 0.0022764166351407766 + ] + } + } + ] + } + ], + "artifacts": [ + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 999.4869, + "texture": null, + "color": [ + 0.85, + 0.85, + 0.85 + ] + } + } + }, + "robots": { + "RidgebackSawyerUmi": { + "root_pose": [ + [ + -3.5418899059295654, + -2.534480094909668, + 0.05999999865889549, + 0.851464569568634, + 0.0, + 0.0, + 0.5244120955467224 + ] + ], + "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/N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/sim_info/0/sim_states.npz b/N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..3478c1df9e3019e91fad121729f0045cfd90d5ff --- /dev/null +++ b/N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6c1e7d6d5f0038874d067e9fde70ef5a1c3f42fadb371768435fa7f57880cd62 +size 237524 diff --git a/N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/sim_info/magicsim_manifest.json b/N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..7ef69dd1e41e837f24ba70cdc82c5adabcd0ea83 --- /dev/null +++ b/N023/sawyer_umi/dr_off/seed_1003/stationassembly/000/sim_info/magicsim_manifest.json @@ -0,0 +1,233 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-09 16:00:49" + }, + "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/N023/stretch3/dr_off/seed_1004/check.json b/N023/stretch3/dr_off/seed_1004/check.json new file mode 100644 index 0000000000000000000000000000000000000000..25e61b61ab6c7689161652cfea220fa06d58d88a --- /dev/null +++ b/N023/stretch3/dr_off/seed_1004/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 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 = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "2136 rows vs ceil(4271/2) = 2136" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 31..4301, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "15.98 MB, 2136 frames at 25 fps, mean luma 107..147, std 16, new picture 2135x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "2136 vs 2136" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "45.32 MB, 2136 frames at 25 fps, mean luma 123..157, std 38, new picture 2135x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "2136 vs 2136" + }, + "sim_info present": { + "pass": true, + "detail": "stationassembly/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N023/stretch3/dr_off/seed_1004/check.txt b/N023/stretch3/dr_off/seed_1004/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..b2738766ef464f3d8d2f4f61a771b289fe1baf82 --- /dev/null +++ b/N023/stretch3/dr_off/seed_1004/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n023_str_off_1004/out task=N023 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n023_str_off_1004/out/stationassembly/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 2136 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: 2136 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 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 2136 at dataset fps 25 = 85.44 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2136 rows vs ceil(4271/2) = 2136 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..4301, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 15.98 MB, 2136 frames at 25 fps, mean luma 107..147, std 16, new picture 2135x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 2136 vs 2136 +[PASS] video observation.images.wrist decodes, 640x480, not black: 45.32 MB, 2136 frames at 25 fps, mean luma 123..157, std 38, new picture 2135x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 2136 vs 2136 +parquet size 2.10 MB +[PASS] sim_info present: stationassembly/000/sim_info +dataset size 63.60 MB; whole cell dir 64.7 MB +RESULT: ALL PASS diff --git a/N023/stretch3/dr_off/seed_1004/report.json b/N023/stretch3/dr_off/seed_1004/report.json new file mode 100644 index 0000000000000000000000000000000000000000..aebcc47eb32c09f9c231e44e977a4121da99e4e6 --- /dev/null +++ b/N023/stretch3/dr_off/seed_1004/report.json @@ -0,0 +1,2682 @@ +{ + "task": "N023", + "agent_id": null, + 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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, slightly above table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [pen [cap]r]\n\n\n\n\n\n\n\n[robot]" + }, + "task": { + "task_type": "StationAssembly", + "instruction": "Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.", + "template_id": -1, + "slots": { + "obj": 3.190893384631092, + "support": null + }, + "generic_instruction": "Stationassembly the 3.190893384631092.", + "task_id": "N023", + "instruction_source": "magicsim/Task/MobileBench/instructions.tsv" + }, + "narration_log": { + "frame_1599": { + "frame_idx": 1599, + "caption": "Computing a grasp pose for the small cap; the right gripper is below and to the right of and in front of the cap.", + "skill": "ReachStance", + "phase": "search", + "skill_state": "computing", + "planner": "NavToTrim", + "planner_state": "finished", + "target": "cap_1", + "hand_id": 0, + "eef_relation": [ + "below", + "right_of", + "in_front_of" + ] + 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"video.width": 640, + "video.channels": 3, + "has_audio": false + } + } + } +} \ No newline at end of file diff --git a/N023/stretch3/dr_off/seed_1004/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json b/N023/stretch3/dr_off/seed_1004/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..3cdbe2efff92bf028885c506c852c45102053a63 --- /dev/null +++ b/N023/stretch3/dr_off/seed_1004/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-09 15:55:35" + }, + "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", + 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{ + "use_navmesh": true, + "use_absolute": true, + "translation_threshold": 0.06, + "rotation_threshold": 0.06, + "num_path_segments": 30, + "start_forward_offset": 0.0, + "visualize_path": false, + "carry_arm": true + }, + "MobileMoveL": { + "translation_threshold": 0.006, + "rotation_threshold": 0.05, + "motiongen_distance_threshold": 0.0, + "timeout_steps": 1800, + "reactive": false, + "base_pos_threshold": 0.025, + "base_rot_threshold": 0.05, + "eef_pos_threshold": 0.015, + "eef_rot_threshold": 0.15, + "waypoint_max_steps": 30, + "interp_steps": 60, + "retry_mobile_on_locked_plan_failure": true, + "debug": false, + "debug_viz": false, + "stall_release_ticks": 50, + "stall_release_factor": 3.0, + "debug_sphere": false, + "interp_validate_target": false + }, + "AssemblyServoL": { + "translation_threshold": 0.0003, + "rotation_threshold": 0.005, + "motiongen_distance_threshold": 0.0, + "timeout_steps": 1000000, + "min_steps_before_done": 1000000, + "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": 1, + "debug": false, + "debug_viz": false + }, + "MobileServoL": { + "translation_threshold": 0.03, + "rotation_threshold": 0.3, + "done_threshold": 0.001, + "timeout_steps": 300, + "stride": 1, + "eef_pos_threshold": 0.03, + "eef_rot_threshold": 0.1, + "base_pos_threshold": 0.12, + "waypoint_max_steps": 20, + "force_free_base_distance": 0.4, + "motiongen_distance_threshold": 0.05, + "embedded_direct_lock_layout": "trailing", + "debug": false, + "debug_viz": false + }, + "ParallelGripper": { + "gripper_threshold": 0.001, + "timeout_steps": 30 + }, + "NavToTrim": { + "use_navmesh": false, + "carry_arm": true, + "visualize_path": false, + "trim_pos_threshold": 0.01, + "trim_yaw_threshold": 0.0012, + "max_steps": 1500 + } + }, + "atomic_skill": { + "NavToPose": { + "robot_id": 0, + "show_marker": false, + "trim": true + }, + "HoldPose": { + "robot_id": 0, + "hand_id": 0 + }, + "NavTo": { + "robot_id": 0, + "position_offset": 0.85, + "position_threshold": 0.08, + "angle_threshold": 0.06 + }, + "ReachStance": { + "check_current_first": true, + "stance_margin": 0.0, + "max_reach": 1.0, + "max_walks": 2, + "reject_radius": 0.05, + "obstacle_avoidance": [ + "dynamic" + ], + "walk_planner": "MobileServoL", + "strategy_kwargs": { + "reach_steps": 2 + }, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "goalset_lock_base": true, + "debug": true, + "obstacle_ignore": [ + "nib_cone", + "nib_stub" + ] + }, + "AssemblyGrasp": { + "pre_grasp_offset_x": 0.12, + "retrieval_offset_x": 0.15, + "mobile": true, + "pre_grasp_planner": "MobileMoveL", + "pre_grasp_mode": -1, + "grasp_mode": 4, + "retrieval_mode": 4, + "goalset_lock_base": true, + "reactive": false, + "viz_grasp": false, + "close_settle_steps": 10, + "obstacle_ignore": [ + "pen_holder" + ], + "servo_windup": 0.004, + "servo_pos_tol": 0.004, + "servo_lateral_tol": 0.012, + "servo_lateral_gate": 0.012 + }, + "CarryPose": { + "robot_id": 0, + "hand_id": 0, + "carry_part_pos": [ + 0.0, + -0.35, + 0.6 + ], + "planner_mode": 1, + "carry_fallbacks": [ + [ + 0.0, + -0.3, + 0.5 + ], + [ + 0.0, + -0.4, + 0.7 + ], + [ + 0.0, + -0.25, + 0.6 + ] + ] + }, + "AssemblyInsert": { + "plan_mode": 1, + "max_lin": 0.002, + "max_rot_deg": 1.0, + "settle_ticks": 3, + "servo_max_steps": 600, + "lateral_gate": 0.002, + "stall_ticks": 60, + "stall_min_progress": 0.8, + "carry_lost": 0.25, + "open_value": 0.0, + "base_trim": true, + "yaw_trade": false, + "trim_min_m": 0.0008, + "trim_stall_ticks": 20, + "trim_max": 24, + "trim_bias_m": 0.0, + "trim_settle_ticks": 3, + "trim_along_path": true, + "trim_now_m": 0.02, + "trim_hold_heading": 1.0 + } + }, + "auto_collect": { + "task_type": "assembly", + "max_trajectories": 1 + }, + "record": { + "output_dir": "/mnt/scratch/xc536_atomic/n023_str_off_1004/out", + "formats": [ + "lerobot_v21", + "sim_info" + ], + "clear_buffer_on_failure": true, + "lerobot": { + "subsample_every": 2 + } + } + }, + "visual_dr": { + "keep": [ + "cap", + "pen_holder" + ] + } + }, + "git_sha": null, + "collect_runtime": { + "max_trajectories": 1 + } +} \ No newline at end of file diff --git a/N023/stretch3/dr_off/seed_1004/stationassembly/000/sim_info/0/actions.npz b/N023/stretch3/dr_off/seed_1004/stationassembly/000/sim_info/0/actions.npz new file mode 100644 index 0000000000000000000000000000000000000000..8c6a51c74aa439b25a946f4fecdbe3b53feff9aa --- /dev/null +++ b/N023/stretch3/dr_off/seed_1004/stationassembly/000/sim_info/0/actions.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3069f3710395ea10755444fc824b2fb2bf0e735a86fdde41495a44557dd1c137 +size 422810 diff --git a/N023/stretch3/dr_off/seed_1004/stationassembly/000/sim_info/0/device_commands.jsonl b/N023/stretch3/dr_off/seed_1004/stationassembly/000/sim_info/0/device_commands.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N023/stretch3/dr_off/seed_1004/stationassembly/000/sim_info/0/device_events.jsonl b/N023/stretch3/dr_off/seed_1004/stationassembly/000/sim_info/0/device_events.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/N023/stretch3/dr_off/seed_1004/stationassembly/000/sim_info/0/scene_snapshot.json b/N023/stretch3/dr_off/seed_1004/stationassembly/000/sim_info/0/scene_snapshot.json new file mode 100644 index 0000000000000000000000000000000000000000..e9adb5e2029548975a2a9c3ee52148a2ca475e2a --- /dev/null +++ b/N023/stretch3/dr_off/seed_1004/stationassembly/000/sim_info/0/scene_snapshot.json @@ -0,0 +1,273 @@ +{ + "trajectory_id": 0, + "env_id": 0, + "run_id": "stationassembly/000", + "task_type": "StationAssembly", + "success": true, + "timing": { + "fps": 50.0, + "sim_dt": 0.005, + "decimation": 4 + }, + "restore_interface": { + "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])", + "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])", + "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id]) (present when the scene has animated avatars)" + }, + "snapshot": { + "env_id": 0, + "scene": { + "objects": [ + { + "table_A": [ + { + "asset": "Cube", + "pose": { + "pos": [ + -2.0, + 1.5, + 0.23 + ], + "ori": [ + 1.0, + 0.0, + 0.0, + 0.0 + ], + "scale": [ + 0.9, + 0.6, + 0.4 + ] + }, + "dr": { + "visual": { + "kind": "color", + "value": [ + 0.78, + 0.72, + 0.62 + ], + "visible": true + }, + "physics": { + "type": "geometry", + "collision": true, + "ratio": 1.0 + }, + "primitive_params": { + "size": [ + 1, + 1, + 1 + ] + } + }, + "type_specific": {} + } + ], + "pen_holder": [ + { + "asset": "/mnt/scratch/xc536_atomic_local/repo_30762bb60/Assets/Object/MobileAssembly/pen_holder_a05/Object.usd", + "pose": { + "pos": [ 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}, + "ratio": 1.0 + }, + "primitive_params": null + }, + "type_specific": { + "linear_velocity": [ + 0.0008300152840092778, + -0.00031946355011314154, + -0.00016855128342285752 + ], + "angular_velocity": [ + 0.015384790487587452, + -0.06430480629205704, + 0.0007546572596766055 + ] + } + } + ] + } + ], + "artifacts": [ + {} + ], + "background": { + "type": "dome", + "pose": { + "pos": null, + "ori": null, + "scale": null + }, + "dr": { + "intensity": 1059.94733, + "texture": null, + "color": [ + 0.85, + 0.85, + 0.85 + ] + } + } + }, + "robots": { + "HelloRobot": { + "root_pose": [ + [ + -3.5768001079559326, + -2.4938299655914307, + 0.05999999865889549, + 0.8018732666969299, + 0.0, + 0.0, + 0.5974941253662109 + ] + ], + "root_vel": [ + [ + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_pos": [ + [ + 0.0, + 0.0, + 0.0, + 0.4000000059604645, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 0.0, + 1.5707963705062866, + 0.0, + 0.0, + 0.0, + 0.0 + ] + ], + "joint_vel": [ + [ + 0.0, + 0.0, + 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sha256:a86869fb53e0b1dfa5d30d567cba577baa769b6c171dd52cd3363f63aa3a1549 +size 592529 diff --git a/N023/stretch3/dr_off/seed_1004/stationassembly/000/sim_info/magicsim_manifest.json b/N023/stretch3/dr_off/seed_1004/stationassembly/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..50ffe705e87c79f88e2956ac0a188128969442ba --- /dev/null +++ b/N023/stretch3/dr_off/seed_1004/stationassembly/000/sim_info/magicsim_manifest.json @@ -0,0 +1,228 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-09 15:55:58" + }, + "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": [ + { + "name": "HelloRobot.joint_pos", + "start": 0, + "end": 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" + ], + "source": "ObservationManager", + "names_source": "joint_names" + } + ] + }, + "joint_vel_layout": { + "dim": 15, + "segments": [ + { + "name": "HelloRobot.joint_vel", + "start": 0, + "end": 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" + ], + "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": [ + [ + 811.3606627541883, + 0.0, + 320.0 + ], + [ + 0.0, + 811.3606388722814, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 43.048473468183616, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.04977099969983101, + -0.002942000050097704, + 1.2957229614257812 + ], + "quat": [ + -0.6254264116287231, + -0.3299117982387543, + 0.32990962266921997, + 0.6254276037216187 + ] + }, + "wrist": { + "intrinsics": { + "K": [ + [ + 426.91786449658065, + 0.0, + 320.0 + ], + [ + 0.0, + 426.9178503597538, + 240.0 + ], + [ + 0.0, + 0.0, + 1.0 + ] + ], + "fov_h_deg": 73.70742419505024, + "resolution": [ + 640, + 480 + ] + }, + "pos": [ + 0.008999999612569809, + 0.06293900310993195, + 0.056398000568151474 + ], + "quat": [ + -1.5083966786733072e-07, + 1.7244702803509426e-06, + 0.9961962699890137, + 0.08713743835687637 + ] + } + }, + "generated_run": { + "run_id": "stationassembly/000", + "task_type": "StationAssembly" + } +} \ No newline at end of file diff --git a/N059/go2_arm/dr_off/seed_1004/data/config_resolved.yaml b/N059/go2_arm/dr_off/seed_1004/data/config_resolved.yaml new file mode 100644 index 0000000000000000000000000000000000000000..7865e009192c050a0d97c663cc988a4aaa870e77 --- /dev/null +++ b/N059/go2_arm/dr_off/seed_1004/data/config_resolved.yaml @@ -0,0 +1,792 @@ +env: + sim: + seed: 1004 + 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 + demo_x: + usd: + - $MAGICSIM_ASSETS/StationMemory/sm_block_x_v2 + random: false + num_per_env: 1 + common: + scale: + - 1.0 + - 1.0 + - 1.0 + pos: + - - -1.4080912285729887 + - 2.22 + - 0.414 + - - -1.4080912285729887 + - 2.22 + - 0.414 + ori: + - - 0.0 + - 0.0 + - 9.551213732391435 + - - 0.0 + - 0.0 + - 9.551213732391435 + demo_x_1: + physics: + type: rigid + collision: true + mass: 0.1 + physics_material: + static_friction: 1.2 + dynamic_friction: 1.2 + restitution: 0.0 + demo_y: + usd: + - $MAGICSIM_ASSETS/StationMemory/sm_block_y_v2 + random: false + num_per_env: 1 + common: + scale: + - 1.0 + - 1.0 + - 1.0 + pos: + - - -1.4080912285729887 + - 2.22 + - 0.3565 + - - -1.4080912285729887 + - 2.22 + - 0.3565 + ori: + - - 0.0 + - 0.0 + - 9.551213732391435 + - - 0.0 + - 0.0 + - 9.551213732391435 + demo_y_1: + physics: + type: rigid + collision: true + mass: 0.1 + physics_material: + static_friction: 1.2 + dynamic_friction: 1.2 + restitution: 0.0 + block_x: + usd: + - $MAGICSIM_ASSETS/StationMemory/sm_block_x_v2 + random: false + num_per_env: 1 + common: + scale: + - 1.0 + - 1.0 + - 1.0 + pos: + - - 2.021560430084314 + - 2.22 + - 0.36149999999999993 + - - 2.021560430084314 + - 2.22 + - 0.36149999999999993 + ori: + - - 0.0 + - 0.0 + - 0.0 + - - 0.0 + - 0.0 + - 0.0 + block_x_1: + physics: + type: rigid + collision: true + mass: 0.1 + physics_material: + static_friction: 1.2 + dynamic_friction: 1.2 + restitution: 0.0 + block_y: + usd: + - $MAGICSIM_ASSETS/StationMemory/sm_block_y_v2 + random: false + num_per_env: 1 + common: + scale: + - 1.0 + - 1.0 + - 1.0 + pos: + - - 1.7693338269299284 + - 2.22 + - 0.3565 + - - 1.7693338269299284 + - 2.22 + - 0.3565 + ori: + - - 0.0 + - 0.0 + - 0.0 + - - 0.0 + - 0.0 + - 0.0 + block_y_1: + physics: + type: rigid + collision: true + mass: 0.1 + physics_material: + static_friction: 1.2 + dynamic_friction: 1.2 + 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 +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: 1004 + 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: N059 + draw_kind: stack + cue_min_fraction: 1.0 + review_cams: + - pos: + - -1.0 + - 1.5 + - 0.75 + look_at: + - -1.5 + - 2.22 + - 0.42 + focal: 6 + - pos: + - 1.9 + - 1.45 + - 0.8 + look_at: + - 1.9 + - 2.22 + - 0.4 + focal: 6 + - pos: + - 3.6 + - -0.6 + - 2.6 + look_at: + - 0.2 + - 2.2 + - 0.4 + focal: 5 + stack: + half_row: 0.3 + min_gap: 0.2 + max_gap: 0.3 + half_t1: 0.2 + yaw_jitter_deg: 10.0 + legible_size: 0.04 + xy_tol: 0.02 + z_tol: 0.012 + other_tol: 0.06 + lift_detect: 0.02 + observe: + standoff: 0.9 + spawn_jitter: + x: 0.1 + 'y': 0.1 + yaw_deg: 10.0 + items: + demo_x: + usd: $MAGICSIM_ASSETS/StationMemory/sm_block_x_v2 + station: A + t: 0.09190877142701115 + depth: 0.12 + z: 0.084 + yaw_deg: 9.551213732391435 + physics: + type: rigid + collision: true + mass: 0.1 + physics_material: + static_friction: 1.2 + dynamic_friction: 1.2 + restitution: 0.0 + demo_y: + usd: $MAGICSIM_ASSETS/StationMemory/sm_block_y_v2 + station: A + t: 0.09190877142701115 + depth: 0.12 + z: 0.026500000000000003 + yaw_deg: 9.551213732391435 + physics: + type: rigid + collision: true + mass: 0.1 + physics_material: + static_friction: 1.2 + dynamic_friction: 1.2 + restitution: 0.0 + block_x: + usd: $MAGICSIM_ASSETS/StationMemory/sm_block_x_v2 + station: B + t: 0.12156043008431389 + depth: 0.12 + z: 0.0315 + yaw_deg: 0 + physics: + type: rigid + collision: true + mass: 0.1 + physics_material: + static_friction: 1.2 + dynamic_friction: 1.2 + restitution: 0.0 + block_y: + usd: $MAGICSIM_ASSETS/StationMemory/sm_block_y_v2 + station: B + t: -0.13066617307007164 + depth: 0.12 + z: 0.0265 + yaw_deg: 0 + physics: + type: rigid + collision: true + mass: 0.1 + physics_material: + static_friction: 1.2 + dynamic_friction: 1.2 + restitution: 0.0 + draw: + bottom: 'Y' + top: X + t1: 0.09190877142701115 + yaw1_deg: 9.551213732391435 + start: + X: 0.12156043008431389 + 'Y': -0.13066617307007164 +collect: + auto_collect: + task_type: station + max_trajectories: 1 + record: + output_dir: /mnt/scratch/xc536_atomic/n059_go2_off_1004/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: + StackBlocksGo2: + robot_id: 0 + hand_id: 0 + init_limit: 90 + max_attempt: 2 + read_ticks: 26 + pick_beta_deg: 60.0 + pick_extra: 0.04 + grasp_dz: 0.01 + stage_retries: 2 + stand_hops: 2 + stand_trigger: 0.09 + hop_lead: 0.115 + hop_moved: 0.03 + hold_idle: true + still_window: 20 + still_move: 0.004 + still_turn_deg: 0.5 + still_timeout: 600 + observe_timeout: 900 + place_hover: 0.04 + release_clearance: 0.006 + retreat_up: 0.12 +env_string: StackOrderEnvGo2-V0 +check: + command: StackBlocksGo2 +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 +visual_dr: + keep: + - demo_x + - demo_y + - block_x + - block_y diff --git a/N059/go2_arm/dr_off/seed_1004/data/frames/episode0_end.png b/N059/go2_arm/dr_off/seed_1004/data/frames/episode0_end.png new file mode 100644 index 0000000000000000000000000000000000000000..7e7603fad04e6a2546af7632f5f99d56009c25f0 --- /dev/null +++ b/N059/go2_arm/dr_off/seed_1004/data/frames/episode0_end.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d8d6d55f2e341ede33335dae2cec307d0f04eaa248c9edad4f4a8adc4da24e0 +size 428228 diff --git a/N059/go2_arm/dr_off/seed_1004/data/record/check.json b/N059/go2_arm/dr_off/seed_1004/data/record/check.json new file mode 100644 index 0000000000000000000000000000000000000000..97a9265a8092fff04e6bece09f7e185ba14605bd --- /dev/null +++ b/N059/go2_arm/dr_off/seed_1004/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: 'Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.'; expected 'Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1809 rows vs ceil(3618/2) = 1809" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 91..3707, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "20.15 MB, 1809 frames at 25 fps, mean luma 74..146, std 20, new picture 1808x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1809 vs 1809" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "30.67 MB, 1809 frames at 25 fps, mean luma 111..144, std 26, new picture 1808x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1809 vs 1809" + }, + "sim_info present": { + "pass": true, + "detail": "stackblocksgo2/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N059/go2_arm/dr_off/seed_1004/data/record/check.txt b/N059/go2_arm/dr_off/seed_1004/data/record/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..a0cbd8a89deef8b3f6e8f8f9c0201232227e6bc1 --- /dev/null +++ b/N059/go2_arm/dr_off/seed_1004/data/record/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n059_go2_off_1004/out/data/record task=N059 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n059_go2_off_1004/out/data/record/stackblocksgo2/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1809 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: 1809 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 how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.'; expected 'Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.' +rows 1809 at dataset fps 25 = 72.36 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1809 rows vs ceil(3618/2) = 1809 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 91..3707, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 20.15 MB, 1809 frames at 25 fps, mean luma 74..146, std 20, new picture 1808x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1809 vs 1809 +[PASS] video observation.images.wrist decodes, 640x480, not black: 30.67 MB, 1809 frames at 25 fps, mean luma 111..144, std 26, new picture 1808x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1809 vs 1809 +parquet size 3.16 MB +[PASS] sim_info present: stackblocksgo2/000/sim_info +dataset size 54.21 MB; whole cell dir 55.9 MB +RESULT: ALL PASS diff --git a/N059/go2_arm/dr_off/seed_1004/data/record/stackblocksgo2/000/completed/0.json b/N059/go2_arm/dr_off/seed_1004/data/record/stackblocksgo2/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..82f981258cf5d81f6aebbcfb9a667826af806f42 --- /dev/null +++ b/N059/go2_arm/dr_off/seed_1004/data/record/stackblocksgo2/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stackblocksgo2/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N059/go2_arm/dr_off/seed_1004/data/record/stackblocksgo2/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N059/go2_arm/dr_off/seed_1004/data/record/stackblocksgo2/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..87989566db7b43bf01942a93ccfa862ec37cdfb4 --- /dev/null +++ b/N059/go2_arm/dr_off/seed_1004/data/record/stackblocksgo2/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b52cb349f1f78a47b7eda79dc2395031336560e37aea77d7dfb975c13fdc5c88 +size 3159100 diff --git a/N059/go2_arm/dr_off/seed_1004/data/record/stackblocksgo2/000/lerobot_v21/meta/episodes.jsonl b/N059/go2_arm/dr_off/seed_1004/data/record/stackblocksgo2/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..c18c348c591a5cc20943ecf78d50cd5ed5d77b07 --- /dev/null +++ b/N059/go2_arm/dr_off/seed_1004/data/record/stackblocksgo2/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order."], "length": 1809, "magicsim/control_steps": 3618, "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 demo y. There are a large gray table a, a large gray table b, a large white partition, a small demo x, a small demo y, a small block x and a small block y. The gray table a is to the left of the demo y. The gray table b is to the left of the block x. The white partition is to the left of the block y. The demo x is on top of the demo y. The block x is to the right of the block y. The block y is to the left of the block x. The scene is viewed from front, at table height."} diff --git a/N059/go2_arm/dr_off/seed_1004/data/record/stackblocksgo2/000/lerobot_v21/meta/episodes_stats.jsonl b/N059/go2_arm/dr_off/seed_1004/data/record/stackblocksgo2/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..01ca9d2c86a3d37306f279134d171b1d76a75606 --- /dev/null +++ b/N059/go2_arm/dr_off/seed_1004/data/record/stackblocksgo2/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.10771553033747648, -0.0017026072113701096, 0.02276115779568801, 0.3457048074226474, 0.941835643813187, 1.4862813180309424, 0.6241007000125529, 0.13284659856645162, -0.521163232892241, 0.7462013779854687, 0.1077585200360328, 0.3454947484798231], "std": [0.15458919496061035, 0.020652101751293686, 0.3573117628130471, 0.004950070416963236, 1.5561018776517745, 0.8685983530629978, 0.06216107047372505, 0.04510263741070149, 0.293718684733569, 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EDU quadruped with a Piper arm", + "arms": 1, + "arm_layout": null, + "mobile": true, + "dexterous": false, + "base_pose": { + "pos": [ + -2.995639736322082, + -2.0317548879901395, + 0.42 + ], + "ori": [ + 0.9671742916107178, + 0.0, + 0.0, + 0.25411394238471985 + ] + }, + "facing_yaw_deg": 29.442176936295514, + "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 demo y. There are a large gray table a, a large gray table b, a large white partition, a small demo x, a small demo y, a small block x and a small block y. The gray table a is to the left of the demo y. The gray table b is to the left of the block x. The white partition is to the left of the block y. The demo x is on top of the demo y. The block x is to the right of the block y. The block y is to the left of the block x. The scene is viewed from front, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [[block y]]\n\n [partition]\n\n[t[demo y]\n\n\n\n [robot]" + }, + "task": { + "task_type": "StackBlocksGo2", + "instruction": "Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.", + "template_id": -1, + "slots": { + "obj": 1.5707963267948966, + "support": null + }, + "generic_instruction": "Stackblocksgo2 the 1.5707963267948966.", + "task_id": "N059", + "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/N059/go2_arm/dr_off/seed_1004/data/record/stackblocksgo2/000/lerobot_v21/meta/info.json 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file diff --git a/N059/go2_arm/dr_off/seed_1004/data/record/stackblocksgo2/000/sim_info/0/sim_states.npz b/N059/go2_arm/dr_off/seed_1004/data/record/stackblocksgo2/000/sim_info/0/sim_states.npz new file mode 100644 index 0000000000000000000000000000000000000000..9da0b9498c24b8d471a3c4b58588a879eaa543c5 --- /dev/null +++ b/N059/go2_arm/dr_off/seed_1004/data/record/stackblocksgo2/000/sim_info/0/sim_states.npz @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8978c180e20df2d36e21205eda25fe16899d17523dc7bad581249dbb6f6f0c92 +size 929507 diff --git a/N059/go2_arm/dr_off/seed_1004/data/record/stackblocksgo2/000/sim_info/magicsim_manifest.json b/N059/go2_arm/dr_off/seed_1004/data/record/stackblocksgo2/000/sim_info/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..39413c93994d8463f7170e1a40bf5df7a7651b19 --- /dev/null +++ b/N059/go2_arm/dr_off/seed_1004/data/record/stackblocksgo2/000/sim_info/magicsim_manifest.json @@ -0,0 +1,259 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-09 16:00:27" + }, + "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, 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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 + demo_x: + usd: + - $MAGICSIM_ASSETS/StationMemory/sm_block_x_v2 + random: false + num_per_env: 1 + common: + scale: + - 1.0 + - 1.0 + - 1.0 + pos: + - - -1.3272739534515288 + - 2.22 + - 0.36149999999999993 + - - -1.3272739534515288 + - 2.22 + - 0.36149999999999993 + ori: + - - 0.0 + - 0.0 + - 3.709414924021999 + - - 0.0 + - 0.0 + - 3.709414924021999 + demo_x_1: + physics: + type: rigid + collision: true + mass: 0.1 + physics_material: + static_friction: 1.2 + dynamic_friction: 1.2 + restitution: 0.0 + demo_y: + usd: + - $MAGICSIM_ASSETS/StationMemory/sm_block_y_v2 + random: false + num_per_env: 1 + common: + scale: + - 1.0 + - 1.0 + - 1.0 + pos: + - - -1.3272739534515288 + - 2.22 + - 0.41899999999999993 + - - -1.3272739534515288 + - 2.22 + - 0.41899999999999993 + ori: + - - 0.0 + - 0.0 + - 3.709414924021999 + - - 0.0 + - 0.0 + - 3.709414924021999 + demo_y_1: + physics: + type: rigid + collision: true + mass: 0.1 + physics_material: + static_friction: 1.2 + dynamic_friction: 1.2 + restitution: 0.0 + block_x: + usd: + - $MAGICSIM_ASSETS/StationMemory/sm_block_x_v2 + random: false + num_per_env: 1 + common: + scale: + - 1.0 + - 1.0 + - 1.0 + pos: + - - 2.144646143598641 + - 2.22 + - 0.36149999999999993 + - - 2.144646143598641 + - 2.22 + - 0.36149999999999993 + ori: + - - 0.0 + - 0.0 + - 0.0 + - - 0.0 + - 0.0 + - 0.0 + block_x_1: + physics: + type: rigid + collision: true + mass: 0.1 + physics_material: + static_friction: 1.2 + dynamic_friction: 1.2 + restitution: 0.0 + block_y: + usd: + - $MAGICSIM_ASSETS/StationMemory/sm_block_y_v2 + random: false + num_per_env: 1 + common: + scale: + - 1.0 + - 1.0 + - 1.0 + pos: + - - 1.8944249149050802 + - 2.22 + - 0.3565 + - - 1.8944249149050802 + - 2.22 + - 0.3565 + ori: + - - 0.0 + - 0.0 + - 0.0 + - - 0.0 + - 0.0 + - 0.0 + block_y_1: + physics: + type: rigid + collision: true + mass: 0.1 + physics_material: + static_friction: 1.2 + dynamic_friction: 1.2 + restitution: 0.0 + nav: + navmesh: + min_agent_radius_cm: 70.0 + max_agent_radius_cm: 70.0 + validate_path_clearance: true + validate_path_window: true + validate_path_reroute: true + enabled: true + visualize: false + bake_timeout_s: 180 + agent_height_cm: 110 + 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: + RidgebackSawyerUmi: + name: ridgebacksawyer_umi + type: mobilemanip + common: + pos: + - - -3.1 + - -2.1 + - 0.06 + - - -2.9 + - -1.9 + - 0.06 + ori: + - - 0.0 + - 0.0 + - 19.999999999999996 + - - 0.0 + - 0.0 + - 40.0 + initial_joint_pos: + dummy_base_prismatic_x_joint: 0.0 + dummy_base_prismatic_y_joint: 0.0 + dummy_base_revolute_z_joint: 0.0 + head_pan: -3.0 + right_j0: 3.0 + right_j1: -1.0 + right_j2: 0.0 + right_j3: 2.0 + right_j4: 0.0 + right_j5: 1.4 + right_j6: 0.0 + right_gripper_l_finger_joint: 0.0 + right_gripper_r_finger_joint: 0.0 + action: + base_action: holonomic_action + arm_action: ik_pink + eef_action: binary + planner: + dual_mode: true + base_joint_names: + - dummy_base_prismatic_x_joint + - dummy_base_prismatic_y_joint + - dummy_base_revolute_z_joint + ik: + type: ridgebacksawyer_umi + enable: true + ik_num_instances: 1 + ik_batch_size: 1 + ik_num_seeds: 20 + ik_position_threshold: 0.005 + ik_rotation_threshold: 0.05 + microbatch_wait_ms: 400.0 + relative_to_world_frame: false + motiongen: + type: ridgebacksawyer_umi + enable: true + batch_size: 1 + debug: false + motiongen_num_instances: 1 + microbatch_wait_ms: 400.0 + mode: position + relative_to_world_frame: false + body: + type: nav + dwb_type: dwb_holonomic + dwb_holonomic: + device: cpu + dt: 0.02 + debug: false + num_rollout_steps: 60 + num_speed_samples: 11 + num_steer_samples: 11 + num_vx_samples: 7 + num_vy_samples: 7 + num_yaw_samples: 7 + max_accel: 1.5 + max_steer_rate: 1.5 + max_accel_vx: 1.5 + max_accel_vy: 1.5 + max_yaw_accel: 1.5 + w_goal: 6.0 + w_path: 24.0 + w_vel: 0.2 + w_vy: 0.0 + dilate_radius: 0.62 + 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: 0.1 + goal_yaw_threshold: 0.08 + kp_goal_yaw: 1.5 + min_vx: -0.3 + max_vx: 0.3 + min_vy: -0.3 + max_vy: 0.3 + min_yaw_rate: -0.8 + max_yaw_rate: 0.8 + safety_enabled: true + safety_deceleration: 0.5 + safety_reaction_time: 0.5 + scan_type: 3d + own_body_clear: true + own_body_radius: 0.25 + goal_cost_mode: path + p_controller: + kp_angular_turning_only: 2 + kd_angular_turning_only: 1 + kp_linear_x: 4 + kp_linear_y: 4 + kp_angular: 2 + kd_linear_x: 1.5 + kd_linear_y: 1.5 + min_vel: -0.4 + max_vel: 0.8 + linear_dead_zone: 0.05 + angular_dead_zone: 0.2 + nav_heading_target: 0 + arm: + type: default + eef: + type: default + physics: + wheel_base: 0.01 + robot_radius: 0.62 + reset: default + camera: + enable_tiled: false + colorize_depth: false + head: + camera: + type: camera + mesh: pinhole + resolution: + - 640 + - 480 + frequency: 25 + focal_length: 2.0 + horizontal_aperture: 3.6 + vertical_aperture: 2.7 + clipping_range: + - 0.05 + - 30.0 + focus_distance: 3.0 + mode: RGB + mount_link: Robot_0/head + pos: + - 0.2166 + - 0.0 + - -0.045 + ori: + - -0.0 + - 35.0 + - -90.0 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu + wrist: + camera: + type: camera + mesh: pinhole + resolution: + - 640 + - 480 + frequency: 25 + focal_length: 1.8 + horizontal_aperture: 3.6 + vertical_aperture: 2.7 + clipping_range: + - 0.05 + - 30.0 + focus_distance: 3.0 + mode: RGB + mount_link: Robot_0/right_electric_gripper_base + pos: + - 0.0598 + - 0.0 + - 0.03 + ori: + - 180.0 + - 0.0 + - -90.0 + annotator: + enabled: true + rgb_capture: + type: rgb + device: cpu +task: + observation: {} + reward: {} + termination: + timeout_steps: 30000 + success_hold_frames: 1 + task_version: EXT60-MobileAvatar-v3 + agent_id: a12 + primary_category: C6 + embodiment: sawyer_umi + execution_mode: collect_chain + level: easy + scene_seed: 1003 + 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: 0.75 + stretch: {} + stage_retries: 2 + task_id: N059 + draw_kind: stack + cue_min_fraction: 1.0 + review_cams: + - pos: + - -1.0 + - 1.5 + - 0.75 + look_at: + - -1.5 + - 2.22 + - 0.42 + focal: 6 + - pos: + - 1.9 + - 1.45 + - 0.8 + look_at: + - 1.9 + - 2.22 + - 0.4 + focal: 6 + - pos: + - 3.6 + - -0.6 + - 2.6 + look_at: + - 0.2 + - 2.2 + - 0.4 + focal: 5 + stack: + half_row: 0.3 + min_gap: 0.2 + max_gap: 0.3 + half_t1: 0.2 + yaw_jitter_deg: 10.0 + legible_size: 0.04 + xy_tol: 0.02 + z_tol: 0.012 + other_tol: 0.06 + lift_detect: 0.02 + observe: + standoff: 0.85 + spawn_jitter: + x: 0.1 + 'y': 0.1 + yaw_deg: 10.0 + items: + demo_x: + usd: $MAGICSIM_ASSETS/StationMemory/sm_block_x_v2 + station: A + t: 0.17272604654847112 + depth: 0.12 + z: 0.0315 + yaw_deg: 3.709414924021999 + physics: + type: rigid + collision: true + mass: 0.1 + physics_material: + static_friction: 1.2 + dynamic_friction: 1.2 + restitution: 0.0 + demo_y: + usd: $MAGICSIM_ASSETS/StationMemory/sm_block_y_v2 + station: A + t: 0.17272604654847112 + depth: 0.12 + z: 0.089 + yaw_deg: 3.709414924021999 + physics: + type: rigid + collision: true + mass: 0.1 + physics_material: + static_friction: 1.2 + dynamic_friction: 1.2 + restitution: 0.0 + block_x: + usd: $MAGICSIM_ASSETS/StationMemory/sm_block_x_v2 + station: B + t: 0.24464614359864084 + depth: 0.12 + z: 0.0315 + yaw_deg: 0 + physics: + type: rigid + collision: true + mass: 0.1 + physics_material: + static_friction: 1.2 + dynamic_friction: 1.2 + restitution: 0.0 + block_y: + usd: $MAGICSIM_ASSETS/StationMemory/sm_block_y_v2 + station: B + t: -0.005575085094919663 + depth: 0.12 + z: 0.0265 + yaw_deg: 0 + physics: + type: rigid + collision: true + mass: 0.1 + physics_material: + static_friction: 1.2 + dynamic_friction: 1.2 + restitution: 0.0 + draw: + bottom: X + top: 'Y' + t1: 0.17272604654847112 + yaw1_deg: 3.709414924021999 + start: + X: 0.24464614359864084 + 'Y': -0.005575085094919663 +collect: + auto_collect: + task_type: station + max_trajectories: 1 + record: + output_dir: /mnt/scratch/xc536_atomic/n059_saw_off_1003/out/data/record + formats: + - lerobot_v21 + - sim_info + clear_buffer_on_failure: true + lerobot: + subsample_every: 2 + global_planner: + NavTo: + carry_arm: true + settle_speed: 0.03 + settle_yaw_rate: 0.05 + 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 + 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 + timeout_steps: 3000 + reactive: false + base_pos_threshold: 0.15 + base_rot_threshold: 0.1 + eef_pos_threshold: 0.05 + eef_rot_threshold: 0.3 + waypoint_max_steps: 8 + stall_release_ticks: 50 + stall_release_factor: 10.0 + debug: false + interp_steps: 80 + min_steps_before_done: 10 + ParallelGripper: + gripper_threshold: 0.001 + atomic_skill: + NavToPose: + robot_id: 0 + position_threshold: 0.08 + angle_threshold: 0.06 + show_marker: false + Move: + arm_planner: MobileMoveL + hand_planner: ParallelGripper + hold_steps: 20 + obstacle_avoid_paths: + - dynamic + obstacle_ignore_paths: [] + command: + StackBlocksSawyer: + robot_id: 0 + hand_id: 0 + init_limit: 90 + max_attempt: 2 + read_ticks: 26 + tip_margin: 0.004 + stage_retries: 2 + observe_timeout: 900 + place_hover: 0.04 + release_clearance: 0.006 + retreat_up: 0.12 +env_string: StackOrderEnvSawyer-V0 +check: + command: StackBlocksSawyer +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 +visual_dr: + keep: + - demo_x + - demo_y + - block_x + - block_y diff --git a/N059/sawyer_umi/dr_off/seed_1003/data/frames/episode0_end.png b/N059/sawyer_umi/dr_off/seed_1003/data/frames/episode0_end.png new file mode 100644 index 0000000000000000000000000000000000000000..aec5ed6e4d20e5fbe0bd87b37b2e0e87bd3b8a33 --- /dev/null +++ b/N059/sawyer_umi/dr_off/seed_1003/data/frames/episode0_end.png @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d7f69690eb512c872148b71e10a988804aafdc820c8c3950c553cec21a49447 +size 341488 diff --git a/N059/sawyer_umi/dr_off/seed_1003/data/record/check.json b/N059/sawyer_umi/dr_off/seed_1003/data/record/check.json new file mode 100644 index 0000000000000000000000000000000000000000..5fbaca6329eaed33b6d95ea5de936a49f251fcc2 --- /dev/null +++ b/N059/sawyer_umi/dr_off/seed_1003/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', 'right_j0', 'head_pan', 'right_j1']" + }, + "action shape": { + "pass": true, + "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']" + }, + "task text = MobileBench instruction": { + "pass": true, + "detail": "task_index 0: 'Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.'; expected 'Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.'" + }, + "rows = recorded control steps / 2 (= episode length at 25 Hz)": { + "pass": true, + "detail": "1946 rows vs ceil(3892/2) = 1946" + }, + "rows are every 2nd control step (sim_step_idx)": { + "pass": true, + "detail": "sim_step_idx 91..3981, step differences [2]" + }, + "video observation.images.head decodes, 640x480, not black": { + "pass": true, + "detail": "18.62 MB, 1946 frames at 25 fps, mean luma 114..151, std 18, new picture 1945x = 25.0 per s" + }, + "video observation.images.head frames = parquet rows": { + "pass": true, + "detail": "1946 vs 1946" + }, + "video observation.images.wrist decodes, 640x480, not black": { + "pass": true, + "detail": "36.30 MB, 1946 frames at 25 fps, mean luma 86..130, std 27, new picture 1945x = 25.0 per s" + }, + "video observation.images.wrist frames = parquet rows": { + "pass": true, + "detail": "1946 vs 1946" + }, + "sim_info present": { + "pass": true, + "detail": "stackblockssawyer/000/sim_info" + } + } +} \ No newline at end of file diff --git a/N059/sawyer_umi/dr_off/seed_1003/data/record/check.txt b/N059/sawyer_umi/dr_off/seed_1003/data/record/check.txt new file mode 100644 index 0000000000000000000000000000000000000000..d5b36e4187822ebfacf01713f8fea85294a0597e --- /dev/null +++ b/N059/sawyer_umi/dr_off/seed_1003/data/record/check.txt @@ -0,0 +1,21 @@ +collect dataset check cell=/mnt/scratch/xc536_atomic/n059_saw_off_1003/out/data/record task=N059 at verify_collect_dataset.py +dataset root /mnt/scratch/xc536_atomic/n059_saw_off_1003/out/data/record/stackblockssawyer/000/lerobot_v21 codebase v2.1 fps 25 episodes 1 frames 1946 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: 1946 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done'] +[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1'] +[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z'] +[PASS] task text = MobileBench instruction: task_index 0: 'Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.'; expected 'Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.' +rows 1946 at dataset fps 25 = 77.84 s +[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1946 rows vs ceil(3892/2) = 1946 +[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 91..3981, step differences [2] +[PASS] video observation.images.head decodes, 640x480, not black: 18.62 MB, 1946 frames at 25 fps, mean luma 114..151, std 18, new picture 1945x = 25.0 per s +[PASS] video observation.images.head frames = parquet rows: 1946 vs 1946 +[PASS] video observation.images.wrist decodes, 640x480, not black: 36.30 MB, 1946 frames at 25 fps, mean luma 86..130, std 27, new picture 1945x = 25.0 per s +[PASS] video observation.images.wrist frames = parquet rows: 1946 vs 1946 +parquet size 1.87 MB +[PASS] sim_info present: stackblockssawyer/000/sim_info +dataset size 56.92 MB; whole cell dir 58.0 MB +RESULT: ALL PASS diff --git a/N059/sawyer_umi/dr_off/seed_1003/data/record/stackblockssawyer/000/completed/0.json b/N059/sawyer_umi/dr_off/seed_1003/data/record/stackblockssawyer/000/completed/0.json new file mode 100644 index 0000000000000000000000000000000000000000..b077dfc7839afd58f88c677f2ce511f9fa698b10 --- /dev/null +++ b/N059/sawyer_umi/dr_off/seed_1003/data/record/stackblockssawyer/000/completed/0.json @@ -0,0 +1 @@ +{"run_id": "stackblockssawyer/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null} \ No newline at end of file diff --git a/N059/sawyer_umi/dr_off/seed_1003/data/record/stackblockssawyer/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N059/sawyer_umi/dr_off/seed_1003/data/record/stackblockssawyer/000/lerobot_v21/data/chunk-000/episode_000000.parquet new file mode 100644 index 0000000000000000000000000000000000000000..ce10597ae74dd55930c9756eb3e6cfa84951da8c --- /dev/null +++ b/N059/sawyer_umi/dr_off/seed_1003/data/record/stackblockssawyer/000/lerobot_v21/data/chunk-000/episode_000000.parquet @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c379986e6bd46ec6bd2aa06f9817ba13599b54fe72eafb88bbb825878d083aa8 +size 1866254 diff --git a/N059/sawyer_umi/dr_off/seed_1003/data/record/stackblockssawyer/000/lerobot_v21/meta/episodes.jsonl b/N059/sawyer_umi/dr_off/seed_1003/data/record/stackblockssawyer/000/lerobot_v21/meta/episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..b0d826563b6003a06a29621aaf885a912164a15e --- /dev/null +++ b/N059/sawyer_umi/dr_off/seed_1003/data/record/stackblockssawyer/000/lerobot_v21/meta/episodes.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "tasks": ["Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order."], "length": 1946, "magicsim/control_steps": 3892, "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 demo x. There are a large gray table a, a large gray table b, a large white partition, a small demo x, a small demo y, a small block x and a small block y. The gray table a is on top of the demo x. The gray table a is to the left of the demo x. The gray table b is to the left of the block y. The white partition is to the right of the demo y. The demo x is behind the demo y. The demo y is in front of the demo x. The block x is to the right of the block y. The block y is to the left of the block x. The scene is viewed from back-left, at table height."} diff --git a/N059/sawyer_umi/dr_off/seed_1003/data/record/stackblockssawyer/000/lerobot_v21/meta/episodes_stats.jsonl b/N059/sawyer_umi/dr_off/seed_1003/data/record/stackblockssawyer/000/lerobot_v21/meta/episodes_stats.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..334728623639eb17153aa1bc432b617f6fefac69 --- /dev/null +++ b/N059/sawyer_umi/dr_off/seed_1003/data/record/stackblockssawyer/000/lerobot_v21/meta/episodes_stats.jsonl @@ -0,0 +1 @@ +{"episode_index": 0, "stats": {"action": {"mean": [0.04285569058086068, -0.061018881335843045, 0.013604483729417896, 1.1060588630978765, 1.3889182060650662, 0.634938232577717, 0.13694389662174133, 0.036921492346082906, -0.055931808853872264, 0.08771448332016171, 0.2846865364850976], "std": [0.10738893593795369, 0.10637191486285195, 0.08154446284831884, 1.5063201654167306, 1.0407855899729515, 0.06139681637292924, 0.573226390084654, 0.45448970087563323, 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+ "category": "geometry", + "pos": [ + 0.7200000013411051, + 2.405285688333887, + -4.9647617769119154 + ], + "bbox": { + "extent": [ + 1.0, + 1.0, + 1.0000000000000002 + ], + "center": [ + 0.0, + -5.551115123125783e-17, + 1.1102230246251565e-16 + ] + } + }, + { + "id": "demo_x_1", + "cat_name": "demo_x", + "inst_id": 1, + "noun": "demo x", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 0.2999999858438972, + 2.8536704119967347, + -3.4679596099062286 + ], + "bbox": { + "extent": [ + 0.03613197759054278, + 0.0361318182835295, + 0.06000010730000527 + ], + "center": [ + 1.6306400674181987e-16, + -2.654126918244515e-16, + 5.551115123125783e-17 + ] + } + }, + { + "id": "demo_y_1", + "cat_name": "demo_y", + "inst_id": 1, + "noun": "demo y", + "color": null, + "size": "small", + "material": null, + "category": "rigid", + "pos": [ + 0.35499999299645457, + 2.8536703544419506, + -3.467959714301159 + ], + "bbox": { + "extent": [ + 0.04290643192136943, + 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3.7643499428696714e-16, + -2.7755575615628914e-17 + ] + } + } + ], + "relations": [ + { + "subject": "table_a_1", + "relation": "on_top_of", + "object": "demo_x_1" + }, + { + "subject": "table_a_1", + "relation": "left_of", + "object": "demo_x_1" + }, + { + "subject": "table_b_1", + "relation": "left_of", + "object": "block_y_1" + }, + { + "subject": "partition_1", + "relation": "right_of", + "object": "demo_y_1" + }, + { + "subject": "demo_x_1", + "relation": "behind", + "object": "demo_y_1" + }, + { + "subject": "demo_y_1", + "relation": "in_front_of", + "object": "demo_x_1" + }, + { + "subject": "block_x_1", + "relation": "right_of", + "object": "block_y_1" + }, + { + "subject": "block_y_1", + "relation": "left_of", + "object": "block_x_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": [ + -0.1050000004470341, + 0.16416435149524622, + -3.748147329523147 + ], + "viewpoint": "back-left, 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": [ + -0.029999999329447063, + 0.2398681017085107, + -3.6108331540464738 + ], + "viewpoint": "left, 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": [ + -2.986587162694112, + -1.9536871210124922, + 0.06 + ], + "ori": [ + 0.9685094356536865, + 0.0, + 0.0, + 0.2489769011735916 + ] + }, + "facing_yaw_deg": 28.83395778398521, + "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 Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the demo x. There are a large gray table a, a large gray table b, a large white partition, a small demo x, a small demo y, a small block x and a small block y. The gray table a is on top of the demo x. The gray table a is to the left of the demo x. The gray table b is to the left of the block y. The white partition is to the right of the demo y. The demo x is behind the demo y. The demo y is in front of the demo x. The block x is to the right of the block y. The block y is to the left of the block x. The scene is viewed from back-left, at table height.", + "layout_ascii": " +x forward / +y left (top-down view)\n [partition]\n\n\n\n [demo y]\n [demo x] [block y]x]\n\n[table a] [table b]\n [robot]" + }, + "task": { + "task_type": "StackBlocksSawyer", + "instruction": "Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.", + "template_id": -1, + "slots": { + "obj": 1.5707963267948966, + "support": null + }, + "generic_instruction": "Stackblockssawyer the 1.5707963267948966.", + "task_id": "N059", + "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/N059/sawyer_umi/dr_off/seed_1003/data/record/stackblockssawyer/000/lerobot_v21/meta/info.json b/N059/sawyer_umi/dr_off/seed_1003/data/record/stackblockssawyer/000/lerobot_v21/meta/info.json new file mode 100644 index 0000000000000000000000000000000000000000..8041bc025244812456a6b5f54bb0036036af1749 --- /dev/null +++ b/N059/sawyer_umi/dr_off/seed_1003/data/record/stackblockssawyer/000/lerobot_v21/meta/info.json @@ -0,0 +1,304 @@ +{ + "codebase_version": "v2.1", + "robot_type": "RidgebackSawyerUmiCfg", + "total_episodes": 1, + "total_frames": 1946, + "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": [ + 57 + ], + "names": [ + "cue_displayed.stack.0", + "object_pose.block_x.0", + "object_pose.block_x.1", + "object_pose.block_x.2", + "object_pose.block_x.3", + "object_pose.block_x.4", + "object_pose.block_x.5", + "object_pose.block_x.6", + "object_pose.block_y.0", + "object_pose.block_y.1", + "object_pose.block_y.2", + "object_pose.block_y.3", + "object_pose.block_y.4", + "object_pose.block_y.5", + "object_pose.block_y.6", + "object_pose.demo_x.0", + "object_pose.demo_x.1", + "object_pose.demo_x.2", + "object_pose.demo_x.3", + "object_pose.demo_x.4", + "object_pose.demo_x.5", + "object_pose.demo_x.6", + "object_pose.demo_y.0", + "object_pose.demo_y.1", + "object_pose.demo_y.2", + "object_pose.demo_y.3", + "object_pose.demo_y.4", + "object_pose.demo_y.5", + "object_pose.demo_y.6", + "object_pose.partition.0", + "object_pose.partition.1", + "object_pose.partition.2", + "object_pose.partition.3", + "object_pose.partition.4", + "object_pose.partition.5", + "object_pose.partition.6", + "object_pose.table_a.0", + "object_pose.table_a.1", + "object_pose.table_a.2", + "object_pose.table_a.3", + "object_pose.table_a.4", + "object_pose.table_a.5", + "object_pose.table_a.6", + "object_pose.table_b.0", + "object_pose.table_b.1", + "object_pose.table_b.2", + "object_pose.table_b.3", + "object_pose.table_b.4", + "object_pose.table_b.5", + "object_pose.table_b.6", + "object_visible.block_x.0", + "object_visible.block_y.0", + "object_visible.demo_x.0", + "object_visible.demo_y.0", + "object_visible.partition.0", + "object_visible.table_a.0", + "object_visible.table_b.0" + ] + }, + "action.command": { + "dtype": "float32", + "shape": [ + 496 + ], + "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/N059/sawyer_umi/dr_off/seed_1003/data/record/stackblockssawyer/000/lerobot_v21/meta/magicsim_manifest.json b/N059/sawyer_umi/dr_off/seed_1003/data/record/stackblockssawyer/000/lerobot_v21/meta/magicsim_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..51a4f1117e8461eadb560215c2e503c3fb24d512 --- /dev/null +++ b/N059/sawyer_umi/dr_off/seed_1003/data/record/stackblockssawyer/000/lerobot_v21/meta/magicsim_manifest.json @@ -0,0 +1,264 @@ +{ + "schema_version": 1, + "generated": { + "time": "2026-11-09 16:00:24" + }, + "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": 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