add N012/sawyer_umi/dr_off/seed_1083

N012/sawyer_umi/dr_off/seed_1083/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'; expected 'Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "4086 rows vs ceil(8172/2) = 4086"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 211..8381, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "113.83 MB, 4086 frames at 25 fps, mean luma 76..145, std 32, new picture 4085x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "4086 vs 4086"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "93.03 MB, 4086 frames at 25 fps, mean luma 94..201, std 34, new picture 4085x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "4086 vs 4086"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "squeegee/000/sim_info"
+  }
+ }
+}

N012/sawyer_umi/dr_off/seed_1083/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n012_saw_off_1083/out  task=N012  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n012_saw_off_1083/out/squeegee/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 4086  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: 4086 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']
+[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'; expected 'Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'
+rows 4086 at dataset fps 25 = 163.44 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 4086 rows vs ceil(8172/2) = 4086
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 211..8381, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 113.83 MB, 4086 frames at 25 fps, mean luma 76..145, std 32, new picture 4085x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 4086 vs 4086
+[PASS] video observation.images.wrist decodes, 640x480, not black: 93.03 MB, 4086 frames at 25 fps, mean luma 94..201, std 34, new picture 4085x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 4086 vs 4086
+parquet size 5.47 MB
+[PASS] sim_info present: squeegee/000/sim_info
+dataset size 212.62 MB; whole cell dir 216.6 MB
+RESULT: ALL PASS

N012/sawyer_umi/dr_off/seed_1083/config.yaml

@@ -0,0 +1,696 @@
+env_string: SqueegeeEnv-V0
+env:
+  sim:
+    device: cpu
+    use_fabric: false
+    decimation: 4
+    dt: 0.005
+    seed: 1083
+    soft_resets: 1000000
+    scene:
+      num_envs: 1
+      env_spacing: 14
+    render:
+      rendering_mode: performance
+      enable_reflections: false
+      enable_global_illumination: false
+      enable_translucency: false
+      enable_dl_denoiser: false
+  robot:
+    RidgebackSawyerUmi:
+      name: ridgebacksawyer_umi
+      type: mobilemanip
+      common:
+        pos:
+        - - -3.1244721100953474
+          - -1.7238441144657317
+          - 0.06
+        - - -3.1244721100953474
+          - -1.7238441144657317
+          - 0.06
+        ori:
+        - - 0
+          - 0
+          - 25.000000000000075
+        - - 0
+          - 0
+          - 25.000000000000075
+        initial_joint_pos:
+          dummy_base_.*: 0.0
+          head_pan: 0.0
+          right_j0: 0.0
+          right_j1: -1.6
+          right_j2: 0.0
+          right_j3: 0.5
+          right_j4: 0.0
+          right_j5: 2.7
+          right_j6: 0.0
+          right_gripper_l_finger_joint: 0.0
+          right_gripper_r_finger_joint: 0.0
+      action:
+        base_action: holonomic_action
+        arm_action: ik_pink
+        eef_action: binary
+      planner:
+        dual_mode: true
+        base_joint_names:
+        - dummy_base_prismatic_x_joint
+        - dummy_base_prismatic_y_joint
+        - dummy_base_revolute_z_joint
+        ik:
+          type: ridgebacksawyer_umi
+          enable: true
+          ik_num_instances: 1
+          ik_batch_size: 1
+          ik_num_seeds: 32
+          ik_max_goalset: 64
+          ik_position_threshold: 0.005
+          ik_rotation_threshold: 0.05
+          microbatch_wait_ms: 20.0
+          relative_to_world_frame: false
+        motiongen:
+          type: ridgebacksawyer_umi
+          enable: true
+          motiongen_num_instances: 1
+          max_attempts: 6
+          batch_size: 1
+          microbatch_wait_ms: 20.0
+          mode: position
+          relative_to_world_frame: false
+          start_state_limit_inset: 0.002
+          num_trajopt_seeds: 1
+          num_ik_seeds: 4
+        body:
+          type: nav
+          dwb_type: dwb_holonomic
+          dwb_holonomic:
+            device: cpu
+            dt: 0.02
+            debug: false
+            num_rollout_steps: 60
+            num_speed_samples: 11
+            num_steer_samples: 11
+            num_vx_samples: 7
+            num_vy_samples: 7
+            num_yaw_samples: 7
+            max_accel: 1.5
+            max_steer_rate: 1.5
+            max_accel_vx: 1.5
+            max_accel_vy: 1.5
+            max_yaw_accel: 1.5
+            w_goal: 6.0
+            w_path: 8.0
+            w_vel: 0.2
+            w_vy: 0.0
+            goal_cost_mode: path
+            dilate_radius: 0.36
+            room_size: 12.0
+            occupancy_update_interval: 25
+            scan_height: 0.38
+            scan_min_z: 0.15
+            scan_max_z: 1.68
+            goal_pos_threshold: 0.03
+            goal_yaw_threshold: 0.05
+            kp_goal_yaw: 1.5
+            heading_reference: path
+            turn_yaw_threshold: 0.8
+            heading_lookahead: 0.8
+            heading_min_leg: 0.35
+            route_yaw_gain: 2.0
+            goal_yaw_hysteresis: 0.02
+            min_speed: -0.3
+            max_speed: 0.3
+            min_vx: -0.3
+            max_vx: 0.3
+            min_vy: -0.3
+            max_vy: 0.3
+        arm:
+          type: default
+        eef:
+          type: default
+      physics:
+        robot_radius: 0.8
+        wheel_base: 0.01
+      reset: default
+  camera:
+    enable_tiled: false
+    colorize_depth: false
+    head:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 2.0
+        horizontal_aperture: 3.6
+        vertical_aperture: 2.7
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/head
+        pos:
+        - 0.2166
+        - 0.0
+        - -0.045
+        ori:
+        - -0.0
+        - 35.0
+        - -90.0
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+    wrist:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.8
+        horizontal_aperture: 3.6
+        vertical_aperture: 2.7
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/right_electric_gripper_base
+        pos:
+        - 0.0598
+        - 0.0
+        - 0.03
+        ori:
+        - 180.0
+        - 0.0
+        - -90.0
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+  scene:
+    terrain:
+      type: nav_room
+      collision: true
+      hide_top_walls: true
+      usd:
+      - $MAGICSIM_ASSETS/Room/Collected_SimpleRoom
+      annotation: Annotation
+      random: false
+      pos:
+      - 0.0
+      - 0.0
+      - 0.0
+      ori:
+      - 0.0
+      - 0.0
+      - 0.0
+      scale:
+      - 1.0
+      - 1.0
+      - 1.0
+      physics_material:
+        static_friction: 1.0
+        dynamic_friction: 1.0
+        restitution: 0.0
+        friction_combine_mode: multiply
+        restitution_combine_mode: multiply
+    background:
+      intensity:
+      - 1000
+      - 1000
+    light:
+      light_1:
+        types:
+        - Dome
+        common:
+          pos:
+          - 0.0
+          - 0.0
+          - 0.0
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          color_temperature_range:
+          - 6500
+          - 6500
+          color_range:
+          - - 1.0
+            - 1.0
+            - 1.0
+          - - 1.0
+            - 1.0
+            - 1.0
+        Dome:
+          intensity_range:
+          - 964.105785311745
+          - 964.105785311745
+    water:
+      max_particles: 1500
+      particle:
+        fluid_rest_offset: 0.0027
+        ccd: true
+      look:
+        mode: spheres
+        color:
+        - 0.05
+        - 0.45
+        - 1.0
+        bead_scale: 1.5
+      retire:
+        floor_ttl: 3600.0
+        max_age: 7200.0
+        radius: 30.0
+        below: -2.0
+    objects:
+      table_a:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        table_a_1:
+          pos:
+          - -1.0
+          - 3.2
+          - 0.30500000000000005
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.9
+          - 0.6
+          - 0.55
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.35
+              - 0.37
+              - 0.4
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.8676017894385805
+              dynamic_friction: 0.6507013420789353
+              restitution: 0.0
+      table_b:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        table_b_1:
+          pos:
+          - 2.6
+          - 0.4
+          - 0.30500000000000005
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.7
+          - 1.0
+          - 0.55
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.35
+              - 0.37
+              - 0.4
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.7552426160516739
+              dynamic_friction: 0.5664319620387553
+              restitution: 0.0
+      squeegee:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Squeegee/Object.usda
+        num_per_env: 1
+        random: false
+        squeegee_1:
+          pos:
+          - -1.000583639426483
+          - 3.128945769651129
+          - 0.7210000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 87.24983507438614
+          physics:
+            type: rigid
+            mass: 0.11151305100361919
+            physics_material:
+              static_friction: 1.528125406798714
+              dynamic_friction: 1.3371097309488744
+              restitution: 0.0
+      rack_a0:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        rack_a0_1:
+          pos:
+          - -1.0
+          - 3.2065
+          - 0.6485000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.1
+          - 0.053000000000000005
+          - 0.137
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.45
+              - 0.3
+              - 0.18
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.7588172756572478
+              dynamic_friction: 0.5691129567429358
+              restitution: 0.0
+      platform:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Platform/Object.usda
+        num_per_env: 1
+        random: false
+        platform_1:
+          pos:
+          - 2.5
+          - 0.4
+          - 0.6000000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.7970462939104922
+              dynamic_friction: 0.5977847204328691
+              restitution: 0.0
+          water: {}
+      trough:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Trough/Object.usda
+        num_per_env: 1
+        random: false
+        trough_1:
+          pos:
+          - 2.74
+          - 0.4
+          - 0.5950000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.7819801092266552
+              dynamic_friction: 0.5864850819199913
+              restitution: 0.0
+          water: {}
+  nav:
+    navmesh:
+      enabled: true
+      visualize: false
+      bake_timeout_s: 120
+      agent_height_cm: 170
+      min_agent_radius_cm: 55.0
+      max_agent_radius_cm: 55.0
+      max_step_height_cm: 20
+      max_floor_slope_deg: 30
+      agent_island_radius_cm: 5
+      auto_exclude_rigid_bodies: true
+      validate_path_clearance: true
+      validate_path_window: true
+      navmesh_offset_z_m: 0
+      verbose: true
+    occupancymap:
+      cell_size: 0.05
+task:
+  observation: {}
+  reward: {}
+  termination:
+    timeout_steps: 24000
+    success_hold_frames: 1
+  mmb:
+    task_id: N012
+    agent_id: a03
+    embodiment: stretch3
+    level: easy
+    scene_seed: 1083
+    layout:
+      S:
+      - -3.1244721100953474
+      - -1.7238441144657317
+      - 0.43633231299858366
+      tables:
+        A:
+          center:
+          - -1.0
+          - 3.2
+          size:
+          - 0.9
+          - 0.6
+          top: 0.5800000000000001
+          color:
+          - 0.35
+          - 0.37
+          - 0.4
+        B:
+          center:
+          - 2.6
+          - 0.4
+          size:
+          - 0.7
+          - 1.0
+          top: 0.5800000000000001
+          color:
+          - 0.35
+          - 0.37
+          - 0.4
+      stations:
+        A:
+          table: A
+          work_point:
+          - -1.0
+          - 3.12
+          arm_dir:
+          - 0.0
+          - 1.0
+          reach: 0.8
+          fwd: -0.021
+          stand:
+          - -1.021
+          - 2.3200000000000003
+          - 1.5707963267948966
+        B:
+          table: B
+          work_point:
+          - 2.45
+          - 0.4
+          arm_dir:
+          - 1.0
+          - 0.0
+          reach: 1.05
+          fwd: -0.021
+          stand:
+          - 1.4000000000000001
+          - 0.42100000000000004
+          - 0.0
+    hold_ticks: 40
+    grace_ticks: 400
+    water_settle_ticks: 120
+    object_settle_ticks: 60
+    planning:
+      avoid:
+      - dynamic
+      ignore:
+      - squeegee
+      - water
+    water:
+      max_particles: 1500
+    platform:
+      center:
+      - 2.5
+      - 0.4
+      surface_z: 0.6000000000000001
+      drain_x: 2.7
+    puddle:
+      center:
+      - -0.04
+      - 0.0
+      size:
+      - 0.07
+      - 0.06
+      ml: 30.0
+      medium_offset:
+      - 0.02
+      - 0.05
+      hard_gap: 0.14
+    success:
+      min_in_trough: 0.7
+      max_residual: 0.15
+      max_spill: 0.1
+    tool:
+      category: squeegee
+      asset: Squeegee
+      plate_z: 0.7200000000000001
+    view:
+      eye:
+      - 3.12
+      - -0.15000000000000002
+      - 1.05
+      target:
+      - 2.58
+      - 0.4
+      - 0.6000000000000001
+    dr:
+      seed: 1083
+      spawn_dxy:
+      - -0.124
+      - 0.076
+      friction_scale:
+        platform_1: 0.996
+        rack_a0_1: 0.949
+        squeegee_1: 0.955
+        table_a_1: 1.085
+        table_b_1: 0.944
+        trough_1: 0.977
+      moved:
+        squeegee_1:
+        - -0.0006
+        - 0.0089
+        - -2.75
+      light_scale: 1.071
+collect:
+  command:
+    Squeegee:
+      stage_retries: 1
+      robot_id: 0
+      init_limit: 30
+      max_attempt: 1
+      completion_timeout_steps: 2400
+      pre_back: 0.12
+      lift: 0.1
+      carry:
+        lateral: 0.52
+        forward: 0.0
+        z: 0.85
+      blade_clearance: 0.0015
+      approach_above: 0.07
+      push:
+        x_start_world: 2.4
+        x_end_world: 2.745
+        segments: 5
+        blade_x: 0.119
+        blade_low: 0.105
+      modes:
+        pre_grasp: -1
+        grasp: 4
+        lift: 4
+        carry: 4
+        pre_push: -1
+        lower: 4
+        push: 4
+        retreat: 4
+      grasp_pitch_deg: 20.0
+  global_planner:
+    NavTo:
+      use_navmesh: true
+      use_absolute: true
+      translation_threshold: 0.04
+      rotation_threshold: 0.1
+      num_path_segments: 30
+      start_forward_offset: 0.0
+      visualize_path: false
+      carry_arm: true
+    NavToTrim:
+      use_navmesh: false
+      carry_arm: true
+      visualize_path: false
+      trim_pos_threshold: 0.01
+      trim_yaw_threshold: 0.015
+      max_steps: 1500
+    MobileMoveL:
+      translation_threshold: 0.008
+      rotation_threshold: 0.08
+      stall_release_ticks: 80
+      stall_release_factor: 2.5
+      motiongen_distance_threshold: 0.0
+      timeout_steps: 3600
+      timeout_done_tolerance: 0.06
+      debug: false
+      debug_viz: false
+      debug_sphere: false
+      reactive: false
+      base_pos_threshold: 0.025
+      base_rot_threshold: 0.05
+      eef_pos_threshold: 0.03
+      eef_rot_threshold: 0.1
+      waypoint_max_steps: 30
+      interp_steps: 120
+    ParallelGripper:
+      gripper_threshold: 0.001
+  atomic_skill:
+    NavToPose:
+      robot_id: 0
+      position_threshold: 0.08
+      angle_threshold: 0.1
+      trim: false
+    Move:
+      robot_id: 0
+      hand_id: 0
+      arm_planner: MobileMoveL
+      hand_planner: ParallelGripper
+      ramp_steps: 0
+      hold_steps: 60
+      open_value: 0.0
+      close_value: 1.0
+  auto_collect:
+    task_type: squeegee
+    max_trajectories: 1
+  record:
+    output_dir: /mnt/scratch/xc536_atomic/n012_saw_off_1083/out
+    formats:
+    - lerobot_v21
+    - sim_info
+    clear_buffer_on_failure: true
+    lerobot:
+      subsample_every: 2
+visual_dr:
+  keep:
+  - Water
+  - trough

N012/sawyer_umi/dr_off/seed_1083/squeegee/000/completed/0.json

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+{"run_id": "squeegee/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null}

N012/sawyer_umi/dr_off/seed_1083/squeegee/000/lerobot_v21/data/chunk-000/episode_000000.parquet

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+oid sha256:23e3a27e7a1e77faf068cdf5f2eaea5acd41533ab75c5d249e3b46f2f30f1892
+size 5472510

N012/sawyer_umi/dr_off/seed_1083/squeegee/000/lerobot_v21/meta/episodes.jsonl

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N012/sawyer_umi/dr_off/seed_1083/squeegee/000/lerobot_v21/meta/episodes_stats.jsonl

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N012/sawyer_umi/dr_off/seed_1083/squeegee/000/lerobot_v21/meta/extra/episode_000000.json

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+   "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the brown rack a0. There are a large gray table a, a large gray table b, a medium squeegee, a large brown rack a0, a medium platform and a small trough. The gray table b is in front of the platform. The squeegee is on top of the brown rack a0. The squeegee is to the right of the brown rack a0. The brown rack a0 is to the left of the squeegee. The platform is to the left of the trough. The trough is to the right of the platform. The scene is lit by a cool light from the front. The scene is viewed from front, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                     [p[trough]\n\n\n[rack a0]e]\n\n\n\n\n                        [robot]"
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+   "generic_instruction": "Squeegee the 1.5707963267948966.",
+   "task_id": "N012",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
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+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N012/sawyer_umi/dr_off/seed_1083/squeegee/000/lerobot_v21/meta/info.json

@@ -0,0 +1,796 @@
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+            }
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+}

N012/sawyer_umi/dr_off/seed_1083/squeegee/000/lerobot_v21/meta/magicsim_manifest.json

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+{
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+    "generated": {
+        "time": "2026-11-07 21:56:15"
+    },
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+                    "right_j6",
+                    "right_gripper_l_finger_joint",
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+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
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+                    "frame0.quat_x",
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+        "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)"
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+        "task_type": "Squeegee"
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+}

N012/sawyer_umi/dr_off/seed_1083/squeegee/000/lerobot_v21/meta/tasks.jsonl

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+{"task_index": 0, "task": "Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain."}

N012/sawyer_umi/dr_off/seed_1083/squeegee/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

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N012/sawyer_umi/dr_off/seed_1083/squeegee/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

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N012/sawyer_umi/dr_off/seed_1083/squeegee/000/run_meta.json

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+                    "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": "squeegee/000",
+        "task_type": "Squeegee"
+    }
+}