diff --git a/README.md b/README.md new file mode 100644 index 0000000000000000000000000000000000000000..d258ced5c74aba6bafe54357827e44fa405cf816 --- /dev/null +++ b/README.md @@ -0,0 +1,35 @@ +--- +pretty_name: sim_ep_03 +task_categories: +- robotics +tags: +- real2sim +- ur5e +- lerobot +--- +# sim_ep_03 + +43 simulated cup-placement episodes derived from the real recordings in +[mzxuan/manipulation_realworld](https://huggingface.co/datasets/mzxuan/manipulation_realworld). +Each source target is preserved (16 pink, 14 yellow, 13 blue); clutter is randomized. +The reconstructed environment and appearance follow the source setup. +Actions come from a state-feedback simulation expert, not extraction from video. + +- `dataset/local/sim_ep_03_train` and `sim_ep_03_validation`: validated LeRobot training splits. +- `raw/episodeXXXX.tar.gz`: accepted raw rollout, lossless camera frames, camera videos, + synchronized state/action HDF5, scene specification, contact traces, and validation. +- `debug/videos` and `debug/panels`: real/simulation comparisons for all 43 episodes. +- `inputs/prepared_scenes_and_appearance.tar.gz`: real-derived scene inputs and appearance assets. +- `reproducibility.tar.gz`: frozen configuration, code snapshots, provenance and acceptance reports. +- `UPLOAD_MANIFEST.json`: sizes and SHA-256 checksums of published files. + +Control/capture is 15 Hz, physics/contact logging is 300 Hz, with seven state/action channels +and training horizon 50. Cameras are wall, wrist, and body_forward. +All 43 episodes, the actual OpenPI loader, and 129 debug videos plus 43 panels passed the +completion gate before upload. Consult the packaged reports for individual checks. + +Original recordings remain in the linked source dataset. Source archive SHA-256: +`85e7410827c2b5d33bc7099b7e6a8833f5fd0331959463c9f24199a289d3f85b`. +Archives retain paths relative to the generation run; JSON provenance may contain original +machine paths that must be remapped when reproducing the simulation elsewhere. +Failed attempts, runtime caches, credentials, and dependency installations are not included. diff --git a/UPLOAD_MANIFEST.json b/UPLOAD_MANIFEST.json new file mode 100644 index 0000000000000000000000000000000000000000..92c4f988b4cea7df0ee1b21d5d84116c56cfb2ce --- /dev/null +++ b/UPLOAD_MANIFEST.json @@ -0,0 +1,2886 @@ +{ + "repo_id": "rshift8/sim_ep_03", + "episodes": 43, + "files": [ + { + "path": "README.md", + "bytes": 1894, + "sha256": "105d4463361e681aca66ced0eb2cc3cbf1960b86828b0814beb7829f14062535" + }, + { + "path": "reproducibility.tar.gz", + "bytes": 221332, + "sha256": "6cb8655054676d85559d4ace00f1bf7ae2b33732ecfa08ab6cefb8656280dbc0" + }, + { + "path": "dataset/DATASET.md", + "bytes": 19352, + "sha256": 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See TASK.json for task semantics. The upstream obstruction-task examples below describe a different dataset; the timing, camera and training interfaces apply. + +# UR5e obstruction-removal training data + +The current run lives in `runs/pi05_15hz_3variants_20261023/`. It requests +**171 episodes and 513 camera videos**, if every generation passes. Capture, +measured-state sampling and held-action commands are **15 Hz**; physics and +contact logging are **300 Hz**. Each sample spans exactly 20 physics steps. +The plan retains ten historical obstacle scenes for originals 0, 10, 16, 27, +and 36, plus the ten scenes already generated for original 1. Each of the +remaining 37 originals has **three** obstacle variations with surrounding +clutter. Failed attempts never count as accepted episodes. + +Existing 25 Hz captures remain in `runs/pi05_430_three_camera_20261022/`. +They are not relabeled or interpolated to 15 Hz. Scene specifications and +controllers are reused, followed by fresh physical execution and all three +camera captures. The old camera-repair queue and separate 46-scene supplemental +queue are superseded. The new pilot covers a detour, historical removal and +new destination-blocking removal, including a held-out source, before scaling. + +Use the repository `Makefile` and `config/pi05_generation.json`; see +[reproduction instructions](PI05_GENERATION.md). `make start` runs the pilot, +full two-GPU queue, export, and actual openpi loader validation in order. + +Read the current run's `generation_plan.json`, +`manifest.json`, `physics_status.json`, `render_status.json`, and export reports +for actual progress and accepted/failed counts. The presence of a video or an +older `task_success` flag does **not** make an episode eligible for training. + +## Verified training interface + +On 2026-10-22, the upstream openpi checkout was pinned to +`215abfb217dbac7d5f1273282331b9b1866c0479`. Its `pyproject.toml` pins LeRobot to +`0cf864870cf29f4738d3ade893e6fd13fbd7cdb5`, whose dataset format is **v2.1**. +This is deliberately not an export to the latest, incompatible LeRobot layout. +The exporter also requires `datasets==3.6.0` from openpi's lockfile. Version 4 +changes column access and Parquet feature metadata and fails the pinned loader. + +References: [openpi custom-data instructions](https://github.com/Physical-Intelligence/openpi/blob/215abfb217dbac7d5f1273282331b9b1866c0479/README.md), +[dependency pin](https://github.com/Physical-Intelligence/openpi/blob/215abfb217dbac7d5f1273282331b9b1866c0479/pyproject.toml), +[model/data transforms](https://github.com/Physical-Intelligence/openpi/blob/215abfb217dbac7d5f1273282331b9b1866c0479/src/openpi/training/config.py). + +Use **pi05_base**, not the Franka/DROID expert or DROID normalization. The +UR5e is a different embodiment. `policies/pi05_ur5e.py` defines the custom +adapter and config. The model retains action dimension 32 and action horizon +50; seven real channels are padded only inside the model preprocessing. + +## State, actions, and time + +The seven-channel state and action order is: + +1. `shoulder_pan_joint` +2. `shoulder_lift_joint` +3. `elbow_joint` +4. `wrist_1_joint` +5. `wrist_2_joint` +6. `wrist_3_joint` +7. `gripper_open_fraction` + +Arm positions are absolute radians in the imported UR5e URDF convention; +velocities are radians/second. State is measured from PhysX, independently of +commanded joint targets. This is a single-arm seven-channel dataset, not the +historical padded 14-channel RoboPRO contract. + +Gripper opening is `1 - native_position / 255` (1 open, 0 closed). +Commanded opening uses the requested native actuator position. Measured opening +uses the finger-joint-to-native calibration map; it is **not** a measured jaw +aperture or a force measurement. The mapping, raw native measurement/request, +finger angle, and all articulation joint positions/order are preserved in each +raw `synchronized.hdf5`. The gripper response retains the inherited latency and +rate model. Finger-drive effort is a simulator actuator setting, not calibrated +physical squeezing force. + +Physics runs at 300 Hz; actions and image observations run at **15 Hz**. +Each sample has measured state and all three camera images at simulation time `t`. +Its absolute target is then issued and held over `[t, t + 1/15)`. +Velocity feedforward is the difference between consecutive commanded positions +divided by 1/15, held throughout that control interval. Gripper command latency +is part of the simulated plant. `action_end_timestamp` records the actual end. +Rendering freezes physics, so sequential camera readbacks share the same +simulation timestamp. There is no pairing of cached images with later joints. +Wall-clock rendering duration is unrelated to action duration. + +## Cameras and model mapping + +All three streams are RGB uint8, 640 × 480, with calibration in `scene_spec.json`: + +| Export feature | Source HDF5 role | openpi input | +| --- | --- | --- | +| `observation.images.wall` | `countertop_camera` | `base_0_rgb` | +| `observation.images.wrist` | `left_camera`, attached to flange | `left_wrist_0_rgb` | +| `observation.images.body_forward` | `right_camera`, base-mounted | `right_wrist_0_rgb` | + +All three model image masks are true. The model's fixed third slot is named +`right_wrist_0_rgb`; its physical camera in this dataset is the base-mounted +body-forward camera, not a second wrist camera. Physical roles and calibration +remain explicit in exported feature names and scene metadata. +Openpi resizes with its standard 224 × 224 image transform. No arbitrary flips +are applied. Camera poses use OpenCV optical axes in the scene specification. +Stored flange/object poses are xyz in meters followed by quaternion **wxyz**. +The wrist extrinsic is relative to the flange, whose measured pose is retained. + +Raw PNGs remain available. LeRobot contains separate MP4 streams and Parquet +numeric samples with identical frame counts. The exporter decodes every video +and checks presentation timestamps against the 15 Hz sample grid. + +### Earlier two-camera completion method (archived 25 Hz run) + +The following method applied to the archived 25 Hz run, not the new 15 Hz run. +Compatible completed two-camera episodes could fill variation zero of their +original recording by rendering only `body_forward`. The existing wall/wrist +PNGs are reused unchanged. Their measured joint, action, gripper, phase, and +timestamp datasets are copied bit-for-bit to a new HDF5 file; the original +files remain untouched. The third view uses every saved articulation DOF +(including measured gripper mimic joints) and object poses logged at the same +simulation timestamp. It never interpolates states or executes new dynamics. +The reconstructed flange must agree with the recorded flange within 2 mm and +0.01 rad at every frame. This is visual replay of an already validated physical +execution, not a newly executed demonstration. The new camera's exposure time +is the original simulation time, not its later wall-clock render time. + +`third_camera_status.json` records progress and `third_camera_completion.json` +records provenance, timestamp error, flange error, source checksum, and exact +preservation of existing numeric datasets. A separate complete episode must +pass rendering, export, and the real openpi loader before this method scales. +If later episodes fail completion, the normal batch falls back to fresh capture. +These reused episodes occupy existing slots in the reduced plan; they do +not increase the count or displace the 50 historical obstacle variations. + +### October 23 camera identity correction + +The initial multi-camera capture had a viewport/readback timing defect: the +wrist stream often repeated the wall view. All 73 previously accepted captures +were withheld after image comparison, and their previous export gates were +invalidated. File counts, time alignment, and successful loader decoding alone +did not establish correct camera identity. + +Capture now uses a fixed render-camera prim with the requested calibrated pose +and intrinsics, and at least 16 rendered frames before each readback. The +requested/render-product binding and pose are checked at every exposure. +`camera_poses_base_opencv` and `camera_identity_version` are recorded; acceptance +checks those poses against wall/body calibration and measured flange × wrist +extrinsic, and rejects near-duplicate camera views at distributed samples. + +`analysis.pi05_camera_recovery` first repairs episode 31 and exports it through +the actual openpi loader. It then repairs the remaining completed captures. +Reference images are rendered at evenly spaced frames and every task-phase +transition to determine which streams need replacement. Correct streams are +retained, while faulty streams are rendered from the original physical states. +All existing robot numeric datasets must remain bit-for-bit equal. Corrected +training captures live in `camera_repaired_v1/`; prior `videos/` addresses point +to the corrected videos once their replacement passes, with old videos saved +under `videos_before_camera_repair/`. Original raw captures remain for audit. +`camera_repair_status.json` reports actual repaired counts. These repairs belong to the archived 25 Hz run. The current 15 Hz pipeline uses +the corrected capture implementation and has its own pilot gate. + +### Parallel execution on both GPUs + +The current coordinator is `analysis.pi05_parallel`: two persistent Isaac +processes, one per RTX 4080 SUPER. Each process uses explicit CUDA-index renderer +selection (`active_cuda_gpus`), the matching physics GPU setting, a separate +portable Kit directory, and a GPU-specific lock. Workers render offscreen; +GPU 1 cannot present a window through the desktop display attached to GPU 0. +The GPU 1 offscreen preview passed the same camera-identity comparisons. + +Each worker owns a different episode/variation output directory and writes an +isolated result file. Only the coordinator updates aggregate progress and +records accepted videos. It schedules fresh physical generation and +three-camera capture, followed by unified export and openpi validation. +Existing 25 Hz captures remain separate. Physical failures remain reported; +parallel execution does not relabel them successful. Two workers do not imply twice the measured throughput: CPU physics, +PNG writes, and encoding can leave a GPU briefly idle. + +Monitor `parallel/status.json`, `parallel/gpu0/current.json`, +`parallel/gpu1/current.json`, and the per-GPU worker logs. Each completed job +records elapsed time in `parallel/results/`. The coordinator can be launched +with `make start` when no coordinator/workers are running. Use `make status` +and `make estimate` for progress and an updated timing estimate. + +## Splitting and normalization + +Validation original recording IDs are **7, 14, 21, 28, 35**; the remaining 38 +IDs are training sources. All attempts and future augmentations of a recording +inherit that assignment. Failed sources are reported, never silently replaced +by a source from the other split. + +Training and validation are separate local repositories: +`local/ur5e_obstacles_15hz_train` and `local/ur5e_obstacles_15hz_validation`. +This prevents openpi's default all-episode LeRobot loader from accidentally +training on held-out recordings. Set `HF_LEROBOT_HOME` to the export root. + +Stored actions remain absolute. The adapter converts the six arm channels in +each 50-step (3.333-second) action chunk to deltas relative to the **first measured +state in that chunk**. The gripper remains absolute. At episode ends, actions +repeat the final command according to LeRobot's padding convention; chunks +never cross episode boundaries. Openpi's action padding mask is available from +LeRobot; the standard training transform uses endpoint repetition. + +`assets/ur5e/norm_stats.json` is calculated only from accepted training sources, +after that same action conversion, including chunk endpoint padding. It stores +mean, standard deviation, and exact 1st/99th percentiles. Pi0.5 uses quantile +normalization; validation reuses training statistics. The loader smoke test +checks the normalization/delta inverse against stored commands. + +## Acceptance and provenance + +For newly sampled removal tasks, the obstruction occupies the original destination measured from the real +final image. The controller must physically pick it, move it to a clear table +location, release it, then grasp and place the original target. During physical +execution objects stay dynamic, with no attachment, teleportation, or +object-pose playback. Adding a missing camera later uses the saved physical +trajectory as described above, while retaining its original validation. +Planner revision 2 centers the obstruction between nearby rack pegs while +checking that it still overlaps the observed destination. It can shift the +target's planned placement by at most 13 mm toward that gap; acceptance always +compares against the unchanged observed destination with the original 15 mm +tolerance. This avoids spawning a blocking cup tipped over a peg. +Surrounding props use existing textured meshes with explicit mass, friction, +scale, and source metadata. Layout seeds and rejected attempts are retained. + +Acceptance requires target grasp/lift, correct rack placement within 15 mm in +horizontal position and height, sustained rack support and release, and +terminal speed below 0.02 m/s. The obstruction must have a two-finger grasp, +rise over 70 mm, finish within 40 mm of its clearing point, be released, and +settle. Unplanned robot-object/table/rack contacts and obstruction-clutter +contacts above 0.05 N are rejected. Surrounding bodies must move less than +10 mm. Contact evidence is sampled at the 300 Hz physics rate. These checks +cover reported PhysX actor contacts; they are not a hardware safety proof. +The inherited robot articulation disables self-collision. These checks therefore +cover robot contact with objects, rack, and table, plus unintended prop contacts; +they do not certify clearance between the robot's own links. + +`training_validation.json` adds numeric finiteness, joint ordering, initial +robot state, action timing, gripper convention, camera synchronization, and +image-count checks. Raw HDF5, full contact traces, summaries, source identities, +instructions, specs, and failure files remain alongside each generation. +The original tar archive is read-only throughout; its SHA-256 is retained. + +Reconstruction uses calibrated RGB silhouettes and wrist-depth table fits. +Overlay reviews and fit quality are retained per original recording. Mass, +friction, gripper response, and rigid plastic geometry remain simulator priors; +the photographic table/background projections do not constitute a full room +reconstruction. This dataset is simulation training data, not validated +real-robot transfer data. + +## Running and checking + +The current batch script refuses to scale until `pilot_export/openpi_loader_validation.json` +records successful three-camera end-to-end pilots covering new removal, +historical removal, and historical detour. Run simulator commands under +the shared `/tmp/real2sim_isaac.lock` when using the old serial runner. The +parallel coordinator instead uses `/tmp/real2sim_isaac_gpu0.lock` and +`/tmp/real2sim_isaac_gpu1.lock`; never run the serial and parallel runners together. + +```bash +make doctor +make start +make status +make estimate +``` + +Use the pinned openpi and LeRobot source directories on `PYTHONPATH` for export +and `analysis.pi05_openpi`. The isolated data-validation environment is under +the run's `deps/venv`; its exact package versions are recorded with the run. +`openpi_loader_validation.json` establishes actual video decoding, action +chunking, tokenizer/preprocessing, normalization inversion, and minibatch +construction. It does not claim that an optimizer step or policy fine-tuning +has been performed. No automatic upload is part of this workflow. + +The local TorchCodec runtime additionally uses the Ubuntu FFmpeg 4 shared +libraries extracted into `deps/ffmpeg4/usr/lib/x86_64-linux-gnu`. Include that +directory in `LD_LIBRARY_PATH`; no system packages were changed. The durable +orchestrator supplies this and the pinned source imports automatically: + +```bash +make run +``` + +Generation stages resume using their per-source/per-variation status files. +Each accepted render writes three viewing MP4s under its `videos/` directory +alongside raw synchronized HDF5 and PNGs. These viewing files precede the final +LeRobot export; training readiness requires the export and loader checks. +The final exporter preserves original recording and variation IDs. Failed +attempts are not counted as successful variations or silently filled by duplicates. +Export requires a +new output directory; preserve an interrupted export before restarting that stage. + +## Reusing the historical obstacle videos + +`analysis.pi05_legacy_audit` audits the canonical 50 obstacle entries in the old +video inventory, verifies their video checksums, and extracts logged joints to +`legacy_obstacle_reuse/episodeXXXX/obstacle_YY/logged_joints.hdf5`. These files +preserve 50 Hz measured arm states, commanded targets, calibrated gripper state, +camera exposure times, and the old MP4 resampling map. Their seven-channel order +matches this contract, but they are explicitly **not training-ready episodes**. +Old camera captures were typically 72 ms apart; some have no joint measurement +within 8 ms. Old videos repeat captures on a 15 fps presentation grid and can +display an image up to 72 ms old. They also lack the wrist stream. No interpolated +state is relabeled as an exact measured observation. + +The audit found 46 eligible scene/trajectory candidates: 29 clearing and 17 +detour variants. Four old runs fail the stricter screen (two move the rack more +than 10 mm and two have unintended robot contacts). The old artifacts are +preserved. Reuse means new physical execution and synchronous 15 Hz capture +from the saved scenes/plans, with fresh acceptance checks on every rollout. + +The former `analysis.pi05_legacy_reuse` supplemental queue is cancelled. The +current settings-driven coordinator includes **all 50** source scenes, +adds surrounding clutter while retaining their obstacle/task, and retries fresh +physical execution. Its pilot covers clearing and detour tasks through all +three cameras, export, and openpi loading before scaling. It records failures +rather than treating old acceptance as proof of new success. Detours retain avoidance instructions and +the `legacy_detour` profile; old source/route-clearing demonstrations use +`legacy_clearance`. Neither supplemental profile claims that the original +destination was occupied, and neither relaxes the main `required_clearance` +profile. Both retain the new timing, grasp/release, settling, destination, and +unintended-contact requirements as applicable to the labeled task. + +The unified export uses `local/ur5e_obstacles_15hz_{train,validation}` and computes +normalization using only its training rows. Original IDs 0, 10, 16, 27, 36 are all training +sources under the fixed split; their augmentations never enter validation. +The adapter reads the dataset name from `export_report.json`. Monitor +the current run's per-variant `physics_status.json`, `render_status.json`, +`failed_generations.json`, and `manifest.json` for actual results; preparation is not acceptance. diff --git a/dataset/TASK.json b/dataset/TASK.json new file mode 100644 index 0000000000000000000000000000000000000000..741d34dc54bebd21cebb0dcf354f59c1159e673a --- /dev/null +++ b/dataset/TASK.json @@ -0,0 +1,11 @@ +{ + "dataset": "sim_ep_03", + "profile": "clutter_expert", + "source_episodes": 43, + "variations_per_source": 1, + "original_targets_and_objects_preserved": true, + "policy": "privileged-state feedback pick/place expert with rack-clearance release", + "task_difference_from_upstream_example": "No required obstruction-removal or historical detour tasks", + "contract": "Seven-channel measured state and absolute held action; 15 Hz; 300 Hz physics; horizon 50", + "settings": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/settings.json" +} diff --git a/dataset/assets/ur5e/norm_stats.json b/dataset/assets/ur5e/norm_stats.json new file mode 100644 index 0000000000000000000000000000000000000000..3683beeac4bb38ae3b1a256fd3bd41c2646f4487 --- /dev/null +++ b/dataset/assets/ur5e/norm_stats.json @@ -0,0 +1,80 @@ +{ + "norm_stats": { + "state": { + "mean": [ + 1.7195748413446492, + -2.021303017325976, + -1.738556521719078, + -0.8167496040131554, + 1.6603700289244245, + 0.11431139119626628, + 0.7263220340910376 + ], + "std": [ + 0.18266723765654017, + 0.19830128664589952, + 0.2848192225426283, + 0.23500748207359565, + 0.09165512464139576, + 0.18032443800153153, + 0.1652083789794264 + ], + "q01": [ + 1.327194814682007, + -2.4287446784973143, + -2.2843770027160644, + -1.314374327659607, + 1.4089860916137695, + -0.31815444409847254, + 0.5415775253226107 + ], + "q99": [ + 2.1346484518051145, + -1.5991863107681281, + -1.190434696674348, + -0.2510567444562919, + 1.8801948499679562, + 0.47830653190612793, + 0.8818914763788778 + ] + }, + "actions": { + "mean": [ + 0.009846607044940035, + 0.00298027725510954, + 0.014215943566942503, + -0.01656440593685318, + -0.002100696684815302, + 0.009774642406424063, + 0.6858392179294395 + ], + "std": [ + 0.0829510523787233, + 0.15904216500173715, + 0.1559028605507451, + 0.19004014703040478, + 0.014075954782454344, + 0.08259480319144744, + 0.21483245166925755 + ], + "q01": [ + -0.25054658365467036, + -0.422638082041974, + -0.502542321713705, + -0.46137526768642423, + -0.0609257453372723, + -0.2501715703526272, + 0.4509803921568627 + ], + "q99": [ + 0.31336861954593564, + 0.3874382400992892, + 0.5111559575964694, + 0.41476648664493093, + 0.03917370484707224, + 0.313871879450789, + 0.8823529411764706 + ] + } + } +} diff --git a/dataset/export_report.json b/dataset/export_report.json new file mode 100644 index 0000000000000000000000000000000000000000..1100a75eababb79cec788d3808236f7ed310ce77 --- /dev/null +++ b/dataset/export_report.json @@ -0,0 +1,7248 @@ +{ + "status": "validated_with_openpi_loader", + "dataset_name": "sim_ep_03", + "camera_roles": [ + "wall", + "wrist", + "body_forward" + ], + "fps": 15.0, + "action_horizon": 50, + "accepted": [ + { + "key": "episode0000_variation00", + "source_episode": 0, + "variation": 0, + "split": "train", + "validation_profile": "clutter_expert", + "strategy": "state_feedback_pick_place", + "gpu": 0, + "accepted": true, + "attempts": [ + { + "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0000/variation00/attempt00/physics", + "validation": { + "accepted": true, + "profile": "clutter_expert", + "checks": { + "simulation_completed": true, + "task_success": true, + "expert_completed": true, + "physical_grasp": true, + "target_lifted": true, + "sustained_rack_support": true, + "target_released": true, + "target_settled": true, + "surroundings_stationary": true, + "no_unintended_contacts_above_0_05N": true, + "nonempty": true, + "uniform_timestamps": true, + "action_timing": true, + "state_action_shapes": true, + "camera_sync": true, + "finite_numeric_data": true, + "measured_gripper_convention": true, + "commanded_gripper_convention": true, + "gripper_bounds": true, + "absolute_targets_held_each_control_period": true, + "physics_contact_log_cadence": true, + "correct_arm_order": true, + "declared_capture_rate": true, + "physics_rate": true, + "initial_robot_state": true + }, + "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0000/variation00/attempt00/physics", + "metrics": { + "fps": 15.0, + "action_horizon": 50, + "frames": 225, + "surroundings_displacement_m": { + "rack": 0.00039617317510305764, + "yellow_0": 0.0, + "clutter_0": 0.0, + "clutter_1": 7.751655092467511e-06 + }, + "unintended_contacts": [] + } + } + }, + { + "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0000/variation00/render_attempt00_0", + "validation": { + "accepted": true, + "profile": "clutter_expert", + "checks": { + "simulation_completed": true, + "task_success": true, + "expert_completed": true, + "physical_grasp": true, + "target_lifted": true, + "sustained_rack_support": true, + "target_released": true, + "target_settled": true, + "surroundings_stationary": true, + "no_unintended_contacts_above_0_05N": true, + "nonempty": true, + "uniform_timestamps": true, + "action_timing": true, + "state_action_shapes": true, + "camera_sync": true, + "finite_numeric_data": true, + "measured_gripper_convention": true, + "commanded_gripper_convention": true, + "gripper_bounds": true, + "absolute_targets_held_each_control_period": true, + "physics_contact_log_cadence": true, + "correct_arm_order": true, + "declared_capture_rate": true, + "physics_rate": true, + "initial_robot_state": true, + "three_cameras": true, + "camera_identity_version": true, + "camera_pose_calibration": true, + "wall_image_count": true, + "wrist_image_count": true, + "body_forward_image_count": true, + "distinct_camera_views": true, + "path_tracing": true, + "camera_convergence": true + }, + 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true, + "camera_roles": [ + "wall", + "wrist", + "body_forward" + ] + } + }, + "camera_identity_validated": true, + "fps": 15.0, + "action_horizon": 50, + "scope": "actual LeRobot video decode, action chunking, openpi transforms, tokenizer, normalization inversion and minibatch; no model training" +} diff --git a/dataset/provenance/train_episode000000.json b/dataset/provenance/train_episode000000.json new file mode 100644 index 0000000000000000000000000000000000000000..c86fe7604746fb1e331b4f4a0cf750f376966d4f --- /dev/null +++ b/dataset/provenance/train_episode000000.json @@ -0,0 +1,8136 @@ +{ + "source_episode": 0, + "variation": 0, + "repo_id": "local/sim_ep_03_train", + "episode_index": 0, + "scene_spec": { + "schema": "teleop_replay_spec/v1", + "episode_id": "episode_000000", + "source": { + "task": "cup", + "episode": 0, + "hdf5": "/home/richard/real2sim/data/real_ur5e_20261020_hdf5/data/episode0.hdf5", + "instruction": "put the pink cup on the dish rack", + "source_session": "20261020_172514", + "sim_params": { + "schema": "teleop_sim_params/v1", + "name": "batch_v4_c3", + "note": "batch_v4 round 3 (fit split, N=5 ensembles, v2 poses): g8 + KALAS foot bevel collision (kalas_collision_foot.json: contact ring r=22.3 mm rising to r=28 mm at z~4 mm, measured on the IKEA mesh) + finger max_force 3 N*m (~17 N/pad; real FOR 30 is a low request). 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"physical_grasp": true, + "target_lifted": true, + "sustained_rack_support": true, + "target_released": true, + "target_settled": true, + "surroundings_stationary": true, + "no_unintended_contacts_above_0_05N": true, + "nonempty": true, + "uniform_timestamps": true, + "action_timing": true, + "state_action_shapes": true, + "camera_sync": true, + "finite_numeric_data": true, + "measured_gripper_convention": true, + "commanded_gripper_convention": true, + "gripper_bounds": true, + "absolute_targets_held_each_control_period": true, + "physics_contact_log_cadence": true, + "correct_arm_order": true, + "declared_capture_rate": true, + "physics_rate": true, + "initial_robot_state": true, + "three_cameras": true, + "camera_identity_version": true, + "camera_pose_calibration": true, + "wall_image_count": true, + "wrist_image_count": true, + "body_forward_image_count": true, + "distinct_camera_views": true, + "path_tracing": true, + "camera_convergence": true + }, + "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0001/variation00/render_attempt00_0", + "metrics": { + "fps": 15.0, + "action_horizon": 50, + "frames": 214, + "surroundings_displacement_m": { + "rack": 0.00047305927896003504, + "clutter_0": 1.4901161193847656e-08, + "clutter_1": 1.2994803655518858e-06 + }, + "unintended_contacts": [] + } + }, + "scene_spec_sha256": "8dc6f280ac7ec9cd7afb05a115bfe9d43075033107e34668e625fff452398605", + "raw_synchronized_hdf5_sha256": "eafbb408a97fe7b30e4695d74d06dc64d7a29dcf505cb4f902c2830c850096ed" +} diff --git a/dataset/provenance/train_episode000002.json b/dataset/provenance/train_episode000002.json new file mode 100644 index 0000000000000000000000000000000000000000..8c506c2a64afad0927db0d0dca2c22d7d07290ab --- /dev/null +++ b/dataset/provenance/train_episode000002.json @@ -0,0 +1,8411 @@ +{ + "source_episode": 2, + "variation": 0, + "repo_id": "local/sim_ep_03_train", + "episode_index": 2, + "scene_spec": { + "schema": 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"7c1096020cd0ee4e66632a810dcb7fbce6b3803534436667928975afb68bc4a4", + "raw_synchronized_hdf5_sha256": "cd9c3844757bf87491c36df82528e53bb89343e3451f86854c4060d6222c1482" +} diff --git a/dataset/provenance/train_episode000003.json b/dataset/provenance/train_episode000003.json new file mode 100644 index 0000000000000000000000000000000000000000..b038b07ca99b82ff1bd8c9bb94616f66dc4be386 --- /dev/null +++ b/dataset/provenance/train_episode000003.json @@ -0,0 +1,7841 @@ +{ + "source_episode": 3, + "variation": 0, + "repo_id": "local/sim_ep_03_train", + "episode_index": 3, + "scene_spec": { + "schema": "teleop_replay_spec/v1", + "episode_id": "episode_000003", + "source": { + "task": "cup", + "episode": 3, + "hdf5": "/home/richard/real2sim/data/real_ur5e_20261020_hdf5/data/episode3.hdf5", + "instruction": "put the blue cup on the dish rack", + "source_session": "20261020_172514", + "sim_params": { + "schema": "teleop_sim_params/v1", + "name": "batch_v4_c3", + "note": "batch_v4 round 3 (fit split, N=5 ensembles, v2 poses): g8 + KALAS foot bevel collision (kalas_collision_foot.json: contact ring r=22.3 mm rising to r=28 mm at z~4 mm, measured on the IKEA mesh) + finger max_force 3 N*m (~17 N/pad; real FOR 30 is a low request). Previous profile kept as sim_params_g8.json. Chosen in batch_v2 grid (config g8) on the fit split only. table friction_combine=max: object-table friction is max(object, table 0.5/0.4); rack/cup frictions are PP-on-PP; rack compliant contact (1000 N/m, 10 N*s/m) stands in for KALAS wall / peg flex; pen cup 120 g with 0.7/0.6 friction is within its 60-120 g guess; pad_tip_trim 7 mm; articulation 64 position iterations.", + "table": { + "friction_combine": "max", + "static_friction": 0.5, + "dynamic_friction": 0.4 + }, + "assets": { + "staemling_rack": { + "static_friction": 0.15, + "dynamic_friction": 0.12, + "compliant_contact": { + "stiffness": 1000.0, + "damping": 10.0 + } + }, + "kalas_cup": { + "static_friction": 0.2, + "dynamic_friction": 0.15, + "collision_parts": "real2sim/assets/generated/teleop/kalas_collision_foot.json" + }, + "pen_cup": { + "mass": 0.12, + "static_friction": 0.7, + "dynamic_friction": 0.6 + } + }, + "robot": { + "pad_tip_trim_m": 0.007, + "finger_drive": { + "max_force": 3.0 + } + }, + "physics": { + 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}, + "validation": { + "accepted": true, + "profile": "clutter_expert", + "checks": { + "simulation_completed": true, + "task_success": true, + "expert_completed": true, + "physical_grasp": true, + "target_lifted": true, + "sustained_rack_support": true, + "target_released": true, + "target_settled": true, + "surroundings_stationary": true, + "no_unintended_contacts_above_0_05N": true, + "nonempty": true, + "uniform_timestamps": true, + "action_timing": true, + "state_action_shapes": true, + "camera_sync": true, + "finite_numeric_data": true, + "measured_gripper_convention": true, + "commanded_gripper_convention": true, + "gripper_bounds": true, + "absolute_targets_held_each_control_period": true, + "physics_contact_log_cadence": true, + "correct_arm_order": true, + "declared_capture_rate": true, + "physics_rate": true, + "initial_robot_state": true, + "three_cameras": true, + "camera_identity_version": true, + "camera_pose_calibration": true, + "wall_image_count": true, + "wrist_image_count": true, + "body_forward_image_count": true, + "distinct_camera_views": true, + "path_tracing": true, + "camera_convergence": true + }, + "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0003/variation00/render_attempt00_0", + "metrics": { + "fps": 15.0, + "action_horizon": 50, + "frames": 234, + "surroundings_displacement_m": { + "rack": 0.00029333626168183614, + "clutter_0": 0.0, + "clutter_1": 2.1073424255447017e-08 + }, + "unintended_contacts": [] + } + }, + "scene_spec_sha256": "e6af251b02dfde8f982f3592de960b71e1415a5cec21bdacd0cc7678615b8822", + "raw_synchronized_hdf5_sha256": "c213caff92d7fb9db51b43da003c132fed8637f5323ea6e6f819b545b06dd53b" +} diff --git a/dataset/provenance/train_episode000004.json b/dataset/provenance/train_episode000004.json new file mode 100644 index 0000000000000000000000000000000000000000..0a650433dfa2ed9029a6799210e7f5428b0ca073 --- /dev/null +++ b/dataset/provenance/train_episode000004.json @@ -0,0 +1,8016 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Previous profile kept as sim_params_g8.json. 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100644 index 0000000000000000000000000000000000000000..59de9b2770ce68b0c154c286925da7c501ef8fa1 --- /dev/null +++ b/dataset/provenance/train_episode000007.json @@ -0,0 +1,7217 @@ +{ + "source_episode": 8, + "variation": 0, + "repo_id": "local/sim_ep_03_train", + "episode_index": 7, + "scene_spec": { + "schema": "teleop_replay_spec/v1", + "episode_id": "episode_000008", + "source": { + "task": "cup", + "episode": 8, + "hdf5": "/home/richard/real2sim/data/real_ur5e_20261020_hdf5/data/episode8.hdf5", + "instruction": "put the yellow cup on the dish rack", + "source_session": "20261020_173439", + "sim_params": { + "schema": "teleop_sim_params/v1", + "name": "batch_v4_c3", + "note": "batch_v4 round 3 (fit split, N=5 ensembles, v2 poses): g8 + KALAS foot bevel collision (kalas_collision_foot.json: contact ring r=22.3 mm rising to r=28 mm at z~4 mm, measured on the IKEA mesh) + finger max_force 3 N*m (~17 N/pad; real FOR 30 is a low request). 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b/dataset/provenance/train_episode000009.json new file mode 100644 index 0000000000000000000000000000000000000000..a6fc3f2a73a1bdcd541159c2aa5e456c84873fc6 --- /dev/null +++ b/dataset/provenance/train_episode000009.json @@ -0,0 +1,6496 @@ +{ + "source_episode": 10, + "variation": 0, + "repo_id": "local/sim_ep_03_train", + "episode_index": 9, + "scene_spec": { + "schema": "teleop_replay_spec/v1", + "episode_id": "episode_000010", + "source": { + "task": "cup", + "episode": 10, + "hdf5": "/home/richard/real2sim/data/real_ur5e_20261020_hdf5/data/episode10.hdf5", + "instruction": "put the pink cup on the dish rack", + "source_session": "20261020_173439", + "sim_params": { + "schema": "teleop_sim_params/v1", + "name": "batch_v4_c3", + "note": "batch_v4 round 3 (fit split, N=5 ensembles, v2 poses): g8 + KALAS foot bevel collision (kalas_collision_foot.json: contact ring r=22.3 mm rising to r=28 mm at z~4 mm, measured on the IKEA mesh) + finger max_force 3 N*m (~17 N/pad; real FOR 30 is a low request). Previous profile kept as sim_params_g8.json. Chosen in batch_v2 grid (config g8) on the fit split only. table friction_combine=max: object-table friction is max(object, table 0.5/0.4); rack/cup frictions are PP-on-PP; rack compliant contact (1000 N/m, 10 N*s/m) stands in for KALAS wall / peg flex; pen cup 120 g with 0.7/0.6 friction is within its 60-120 g guess; pad_tip_trim 7 mm; articulation 64 position iterations.", + "table": { + "friction_combine": "max", + "static_friction": 0.5, + "dynamic_friction": 0.4 + }, + "assets": { + "staemling_rack": { + "static_friction": 0.15, + "dynamic_friction": 0.12, + "compliant_contact": { + "stiffness": 1000.0, + "damping": 10.0 + } + }, + "kalas_cup": { + "static_friction": 0.2, + "dynamic_friction": 0.15, + "collision_parts": "real2sim/assets/generated/teleop/kalas_collision_foot.json" + }, + "pen_cup": { + "mass": 0.12, + "static_friction": 0.7, + "dynamic_friction": 0.6 + } + }, + "robot": { + "pad_tip_trim_m": 0.007, + "finger_drive": { + "max_force": 3.0 + } + }, + "physics": { + 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Previous profile kept as sim_params_g8.json. Chosen in batch_v2 grid (config g8) on the fit split only. table friction_combine=max: object-table friction is max(object, table 0.5/0.4); rack/cup frictions are PP-on-PP; rack compliant contact (1000 N/m, 10 N*s/m) stands in for KALAS wall / peg flex; pen cup 120 g with 0.7/0.6 friction is within its 60-120 g guess; pad_tip_trim 7 mm; articulation 64 position iterations.", + "table": { + "friction_combine": "max", + "static_friction": 0.5, + "dynamic_friction": 0.4 + }, + "assets": { + "staemling_rack": { + "static_friction": 0.15, + "dynamic_friction": 0.12, + "compliant_contact": { + "stiffness": 1000.0, + "damping": 10.0 + } + }, + "kalas_cup": { + "static_friction": 0.2, + "dynamic_friction": 0.15, + "collision_parts": "real2sim/assets/generated/teleop/kalas_collision_foot.json" + }, + "pen_cup": { + "mass": 0.12, + "static_friction": 0.7, + "dynamic_friction": 0.6 + } + }, + "robot": { + "pad_tip_trim_m": 0.007, + "finger_drive": { + "max_force": 3.0 + } + }, + "physics": { + 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"/home/richard/real2sim/data/real_ur5e_20261020_hdf5/data/episode16.hdf5", + "instruction": "put the blue cup on the dish rack", + "source_session": "20261020_173439", + "sim_params": { + "schema": "teleop_sim_params/v1", + "name": "batch_v4_c3", + "note": "batch_v4 round 3 (fit split, N=5 ensembles, v2 poses): g8 + KALAS foot bevel collision (kalas_collision_foot.json: contact ring r=22.3 mm rising to r=28 mm at z~4 mm, measured on the IKEA mesh) + finger max_force 3 N*m (~17 N/pad; real FOR 30 is a low request). Previous profile kept as sim_params_g8.json. Chosen in batch_v2 grid (config g8) on the fit split only. table friction_combine=max: object-table friction is max(object, table 0.5/0.4); rack/cup frictions are PP-on-PP; rack compliant contact (1000 N/m, 10 N*s/m) stands in for KALAS wall / peg flex; pen cup 120 g with 0.7/0.6 friction is within its 60-120 g guess; pad_tip_trim 7 mm; articulation 64 position iterations.", + "table": { + "friction_combine": "max", + "static_friction": 0.5, + "dynamic_friction": 0.4 + }, + "assets": { + "staemling_rack": { + "static_friction": 0.15, + "dynamic_friction": 0.12, + "compliant_contact": { + "stiffness": 1000.0, + "damping": 10.0 + } + }, + "kalas_cup": { + "static_friction": 0.2, + "dynamic_friction": 0.15, + "collision_parts": "real2sim/assets/generated/teleop/kalas_collision_foot.json" + }, + "pen_cup": { + "mass": 0.12, + "static_friction": 0.7, + "dynamic_friction": 0.6 + } + }, + "robot": { + "pad_tip_trim_m": 0.007, + "finger_drive": { + "max_force": 3.0 + } + }, + "physics": { + 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"/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0017/variation00/render_attempt00_0", + "metrics": { + "fps": 15.0, + "action_horizon": 50, + "frames": 234, + "surroundings_displacement_m": { + "rack": 0.0003318875156608543, + "clutter_0": 0.0, + "clutter_1": 1.6118070224511577e-07 + }, + "unintended_contacts": [] + } + }, + "scene_spec_sha256": "864707b8d37d1b6f25ce1f43c92350c71917cda2e6a05648450c8668a2e9f0c4", + "raw_synchronized_hdf5_sha256": "1ead05b13fe2a4feadf718ab0be0dac0b22b4da45f4d9477ade82b3fa6372b2a" +} diff --git a/dataset/provenance/train_episode000016.json b/dataset/provenance/train_episode000016.json new file mode 100644 index 0000000000000000000000000000000000000000..e157e8cddb59489a6ada240352a38e856cbcd8b2 --- /dev/null +++ b/dataset/provenance/train_episode000016.json @@ -0,0 +1,8392 @@ +{ + "source_episode": 18, + "variation": 0, + "repo_id": "local/sim_ep_03_train", + "episode_index": 16, + "scene_spec": { + "schema": "teleop_replay_spec/v1", + 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"raw_synchronized_hdf5_sha256": "a6187f741cc54b9e4cfa050815f030cad9b24d7f10049f6bbd61f531f191397f" +} diff --git a/dataset/provenance/train_episode000017.json b/dataset/provenance/train_episode000017.json new file mode 100644 index 0000000000000000000000000000000000000000..7b809a1a3824251d3c420ff1856b6b3c598c5a0b --- /dev/null +++ b/dataset/provenance/train_episode000017.json @@ -0,0 +1,8367 @@ +{ + "source_episode": 19, + "variation": 0, + "repo_id": "local/sim_ep_03_train", + "episode_index": 17, + "scene_spec": { + "schema": "teleop_replay_spec/v1", + "episode_id": "episode_000019", + "source": { + "task": "cup", + "episode": 19, + "hdf5": "/home/richard/real2sim/data/real_ur5e_20261020_hdf5/data/episode19.hdf5", + "instruction": "put the pink cup on the dish rack", + "source_session": "20261020_173439", + "sim_params": { + "schema": "teleop_sim_params/v1", + "name": "batch_v4_c3", + "note": "batch_v4 round 3 (fit split, N=5 ensembles, v2 poses): g8 + KALAS foot bevel collision (kalas_collision_foot.json: contact ring r=22.3 mm rising to r=28 mm at z~4 mm, measured on the IKEA mesh) + finger max_force 3 N*m (~17 N/pad; real FOR 30 is a low request). Previous profile kept as sim_params_g8.json. Chosen in batch_v2 grid (config g8) on the fit split only. table friction_combine=max: object-table friction is max(object, table 0.5/0.4); rack/cup frictions are PP-on-PP; rack compliant contact (1000 N/m, 10 N*s/m) stands in for KALAS wall / peg flex; pen cup 120 g with 0.7/0.6 friction is within its 60-120 g guess; pad_tip_trim 7 mm; articulation 64 position iterations.", + "table": { + "friction_combine": "max", + "static_friction": 0.5, + "dynamic_friction": 0.4 + }, + "assets": { + "staemling_rack": { + "static_friction": 0.15, + "dynamic_friction": 0.12, + "compliant_contact": { + "stiffness": 1000.0, + "damping": 10.0 + } + }, + "kalas_cup": { + "static_friction": 0.2, + "dynamic_friction": 0.15, + "collision_parts": "real2sim/assets/generated/teleop/kalas_collision_foot.json" + }, + "pen_cup": { + "mass": 0.12, + "static_friction": 0.7, + "dynamic_friction": 0.6 + } + }, + "robot": { + "pad_tip_trim_m": 0.007, + "finger_drive": { + "max_force": 3.0 + } + }, + "physics": { + 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Previous profile kept as sim_params_g8.json. 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100644 index 0000000000000000000000000000000000000000..383e31ea9c38437eabc4b40253c841e70201e316 --- /dev/null +++ b/dataset/provenance/train_episode000020.json @@ -0,0 +1,7467 @@ +{ + "source_episode": 23, + "variation": 0, + "repo_id": "local/sim_ep_03_train", + "episode_index": 20, + "scene_spec": { + "schema": "teleop_replay_spec/v1", + "episode_id": "episode_000023", + "source": { + "task": "cup", + "episode": 23, + "hdf5": "/home/richard/real2sim/data/real_ur5e_20261020_hdf5/data/episode23.hdf5", + "instruction": "put the blue cup on the dish rack", + "source_session": "20261020_174150", + "sim_params": { + "schema": "teleop_sim_params/v1", + "name": "batch_v4_c3", + "note": "batch_v4 round 3 (fit split, N=5 ensembles, v2 poses): g8 + KALAS foot bevel collision (kalas_collision_foot.json: contact ring r=22.3 mm rising to r=28 mm at z~4 mm, measured on the IKEA mesh) + finger max_force 3 N*m (~17 N/pad; real FOR 30 is a low request). 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"initial_robot_state": true, + "three_cameras": true, + "camera_identity_version": true, + "camera_pose_calibration": true, + "wall_image_count": true, + "wrist_image_count": true, + "body_forward_image_count": true, + "distinct_camera_views": true, + "path_tracing": true, + "camera_convergence": true + }, + "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0023/variation00/render_attempt00_0", + "metrics": { + "fps": 15.0, + "action_horizon": 50, + "frames": 234, + "surroundings_displacement_m": { + "rack": 4.722456107205395e-05, + "clutter_0": 1.4901161193847656e-08, + "clutter_1": 9.182066025140223e-07 + }, + "unintended_contacts": [] + } + }, + "scene_spec_sha256": "b4f47137ed21b849fc29cabbccd4c7f1b5fdfa64ba6c8ca582e5ecd98015bd5e", + "raw_synchronized_hdf5_sha256": "68579f8fe2aef625662f60be81eea53e827db5793afdd033249004c0a1641977" +} diff --git a/dataset/provenance/train_episode000021.json b/dataset/provenance/train_episode000021.json new file mode 100644 index 0000000000000000000000000000000000000000..ec5e6db1efc7e8f0df3526dab3de242f70fb3917 --- /dev/null +++ b/dataset/provenance/train_episode000021.json @@ -0,0 +1,7792 @@ +{ + "source_episode": 24, + "variation": 0, + "repo_id": "local/sim_ep_03_train", + "episode_index": 21, + "scene_spec": { + "schema": "teleop_replay_spec/v1", + "episode_id": "episode_000024", + "source": { + "task": "cup", + "episode": 24, + "hdf5": "/home/richard/real2sim/data/real_ur5e_20261020_hdf5/data/episode24.hdf5", + "instruction": "put the pink cup on the dish rack", + "source_session": "20261020_174150", + "sim_params": { + "schema": "teleop_sim_params/v1", + "name": "batch_v4_c3", + "note": "batch_v4 round 3 (fit split, N=5 ensembles, v2 poses): g8 + KALAS foot bevel collision (kalas_collision_foot.json: contact ring r=22.3 mm rising to r=28 mm at z~4 mm, measured on the IKEA mesh) + finger max_force 3 N*m (~17 N/pad; real FOR 30 is a low request). Previous profile kept as sim_params_g8.json. Chosen in batch_v2 grid (config g8) on the fit split only. table friction_combine=max: object-table friction is max(object, table 0.5/0.4); rack/cup frictions are PP-on-PP; rack compliant contact (1000 N/m, 10 N*s/m) stands in for KALAS wall / peg flex; pen cup 120 g with 0.7/0.6 friction is within its 60-120 g guess; pad_tip_trim 7 mm; articulation 64 position iterations.", + "table": { + "friction_combine": "max", + "static_friction": 0.5, + "dynamic_friction": 0.4 + }, + "assets": { + "staemling_rack": { + "static_friction": 0.15, + "dynamic_friction": 0.12, + "compliant_contact": { + "stiffness": 1000.0, + "damping": 10.0 + } + }, + "kalas_cup": { + "static_friction": 0.2, + "dynamic_friction": 0.15, + "collision_parts": "real2sim/assets/generated/teleop/kalas_collision_foot.json" + }, + "pen_cup": { + "mass": 0.12, + "static_friction": 0.7, + "dynamic_friction": 0.6 + } + }, + "robot": { + "pad_tip_trim_m": 0.007, + "finger_drive": { + "max_force": 3.0 + } + }, + "physics": { + 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Previous profile kept as sim_params_g8.json. 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"distinct_camera_views": true, + "path_tracing": true, + "camera_convergence": true + }, + "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0025/variation00/render_attempt00_0", + "metrics": { + "fps": 15.0, + "action_horizon": 50, + "frames": 230, + "surroundings_displacement_m": { + "rack": 8.062363985824125e-05, + "clutter_0": 0.0, + "clutter_1": 2.384185791015625e-07 + }, + "unintended_contacts": [] + } + }, + "scene_spec_sha256": "073bbf989b908bac5bbe00578a7da4910420956290d3e0dcea37f858c0ef12ee", + "raw_synchronized_hdf5_sha256": "c5dc92382d41591da07cb813a84da49a0d5ab449bb2a872a2f18eed8e248c20c" +} diff --git a/dataset/provenance/train_episode000023.json b/dataset/provenance/train_episode000023.json new file mode 100644 index 0000000000000000000000000000000000000000..ddcacba670156f3e778d3a359bedad671f8b672d --- /dev/null +++ b/dataset/provenance/train_episode000023.json @@ -0,0 +1,6967 @@ +{ + "source_episode": 26, + "variation": 0, + "repo_id": 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Previous profile kept as sim_params_g8.json. 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index 0000000000000000000000000000000000000000..a68c6a0cb30477d6002ed077a734b417424ec251 --- /dev/null +++ b/dataset/provenance/train_episode000034.json @@ -0,0 +1,6492 @@ +{ + "source_episode": 39, + "variation": 0, + "repo_id": "local/sim_ep_03_train", + "episode_index": 34, + "scene_spec": { + "schema": "teleop_replay_spec/v1", + "episode_id": "episode_000039", + "source": { + "task": "cup", + "episode": 39, + "hdf5": "/home/richard/real2sim/data/real_ur5e_20261020_hdf5/data/episode39.hdf5", + "instruction": "put the yellow cup on the dish rack", + "source_session": "20261020_174150", + "sim_params": { + "schema": "teleop_sim_params/v1", + "name": "batch_v4_c3", + "note": "batch_v4 round 3 (fit split, N=5 ensembles, v2 poses): g8 + KALAS foot bevel collision (kalas_collision_foot.json: contact ring r=22.3 mm rising to r=28 mm at z~4 mm, measured on the IKEA mesh) + finger max_force 3 N*m (~17 N/pad; real FOR 30 is a low request). 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Previous profile kept as sim_params_g8.json. Chosen in batch_v2 grid (config g8) on the fit split only. table friction_combine=max: object-table friction is max(object, table 0.5/0.4); rack/cup frictions are PP-on-PP; rack compliant contact (1000 N/m, 10 N*s/m) stands in for KALAS wall / peg flex; pen cup 120 g with 0.7/0.6 friction is within its 60-120 g guess; pad_tip_trim 7 mm; articulation 64 position iterations.", + "table": { + "friction_combine": "max", + "static_friction": 0.5, + "dynamic_friction": 0.4 + }, + "assets": { + "staemling_rack": { + "static_friction": 0.15, + "dynamic_friction": 0.12, + "compliant_contact": { + "stiffness": 1000.0, + "damping": 10.0 + } + }, + "kalas_cup": { + "static_friction": 0.2, + "dynamic_friction": 0.15, + "collision_parts": "real2sim/assets/generated/teleop/kalas_collision_foot.json" + }, + "pen_cup": { + "mass": 0.12, + "static_friction": 0.7, + "dynamic_friction": 0.6 + } + }, + "robot": { + "pad_tip_trim_m": 0.007, + "finger_drive": { + "max_force": 3.0 + } + }, + "physics": { + 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"/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0041/variation00/render_attempt00_0", + "metrics": { + "fps": 15.0, + "action_horizon": 50, + "frames": 228, + "surroundings_displacement_m": { + "rack": 0.0001461015968946224, + "clutter_0": 5.3726900748371916e-08, + "clutter_1": 6.828569911354542e-08 + }, + "unintended_contacts": [] + } + }, + "scene_spec_sha256": "536e163eba7d37129fb1d9d14c006b55a9bc28da57c5e75b53f654ecf6eb0480", + "raw_synchronized_hdf5_sha256": "e35ada714a4316079a8cbae5ea6873301fe0332f1eb4e865697a8e151efc2b03" +} diff --git a/dataset/provenance/train_episode000037.json b/dataset/provenance/train_episode000037.json new file mode 100644 index 0000000000000000000000000000000000000000..51c5aac5c03c2de95363ff80ea4707b82359514e --- /dev/null +++ b/dataset/provenance/train_episode000037.json @@ -0,0 +1,5992 @@ +{ + "source_episode": 42, + "variation": 0, + "repo_id": "local/sim_ep_03_train", + "episode_index": 37, + "scene_spec": { + "schema": "teleop_replay_spec/v1", + "episode_id": "episode_000042", + "source": { + "task": "cup", + "episode": 42, + "hdf5": "/home/richard/real2sim/data/real_ur5e_20261020_hdf5/data/episode42.hdf5", + "instruction": "put the yellow cup on the dish rack", + "source_session": "20261020_174150", + "sim_params": { + "schema": "teleop_sim_params/v1", + "name": "batch_v4_c3", + "note": "batch_v4 round 3 (fit split, N=5 ensembles, v2 poses): g8 + KALAS foot bevel collision (kalas_collision_foot.json: contact ring r=22.3 mm rising to r=28 mm at z~4 mm, measured on the IKEA mesh) + finger max_force 3 N*m (~17 N/pad; real FOR 30 is a low request). Previous profile kept as sim_params_g8.json. Chosen in batch_v2 grid (config g8) on the fit split only. table friction_combine=max: object-table friction is max(object, table 0.5/0.4); rack/cup frictions are PP-on-PP; rack compliant contact (1000 N/m, 10 N*s/m) stands in for KALAS wall / peg flex; pen cup 120 g with 0.7/0.6 friction is within its 60-120 g guess; pad_tip_trim 7 mm; articulation 64 position iterations.", + "table": { + "friction_combine": "max", + "static_friction": 0.5, + "dynamic_friction": 0.4 + }, + "assets": { + "staemling_rack": { + "static_friction": 0.15, + "dynamic_friction": 0.12, + "compliant_contact": { + "stiffness": 1000.0, + "damping": 10.0 + } + }, + "kalas_cup": { + "static_friction": 0.2, + "dynamic_friction": 0.15, + "collision_parts": "real2sim/assets/generated/teleop/kalas_collision_foot.json" + }, + "pen_cup": { + "mass": 0.12, + "static_friction": 0.7, + "dynamic_friction": 0.6 + } + }, + "robot": { + "pad_tip_trim_m": 0.007, + "finger_drive": { + "max_force": 3.0 + } + }, + "physics": { + 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"raw_synchronized_hdf5_sha256": "cdd3203f44e04162ac6a65ca13973ac14b2b2f88f9c59928af220dc75a976bfc" +} diff --git a/dataset/provenance/validation_episode000002.json b/dataset/provenance/validation_episode000002.json new file mode 100644 index 0000000000000000000000000000000000000000..76abe262f7f38c973c00cf703e3c520560b33cab --- /dev/null +++ b/dataset/provenance/validation_episode000002.json @@ -0,0 +1,6842 @@ +{ + "source_episode": 21, + "variation": 0, + "repo_id": "local/sim_ep_03_validation", + "episode_index": 2, + "scene_spec": { + "schema": "teleop_replay_spec/v1", + "episode_id": "episode_000021", + "source": { + "task": "cup", + "episode": 21, + "hdf5": "/home/richard/real2sim/data/real_ur5e_20261020_hdf5/data/episode21.hdf5", + "instruction": "put the blue cup on the dish rack", + "source_session": "20261020_173439", + "sim_params": { + "schema": "teleop_sim_params/v1", + "name": "batch_v4_c3", + "note": "batch_v4 round 3 (fit split, N=5 ensembles, v2 poses): g8 + KALAS foot bevel collision (kalas_collision_foot.json: contact ring r=22.3 mm rising to r=28 mm at z~4 mm, measured on the IKEA mesh) + finger max_force 3 N*m (~17 N/pad; real FOR 30 is a low request). Previous profile kept as sim_params_g8.json. Chosen in batch_v2 grid (config g8) on the fit split only. table friction_combine=max: object-table friction is max(object, table 0.5/0.4); rack/cup frictions are PP-on-PP; rack compliant contact (1000 N/m, 10 N*s/m) stands in for KALAS wall / peg flex; pen cup 120 g with 0.7/0.6 friction is within its 60-120 g guess; pad_tip_trim 7 mm; articulation 64 position iterations.", + "table": { + "friction_combine": "max", + "static_friction": 0.5, + "dynamic_friction": 0.4 + }, + "assets": { + "staemling_rack": { + "static_friction": 0.15, + "dynamic_friction": 0.12, + "compliant_contact": { + "stiffness": 1000.0, + "damping": 10.0 + } + }, + "kalas_cup": { + "static_friction": 0.2, + "dynamic_friction": 0.15, + "collision_parts": "real2sim/assets/generated/teleop/kalas_collision_foot.json" + }, + "pen_cup": { + "mass": 0.12, + "static_friction": 0.7, + "dynamic_friction": 0.6 + } + }, + "robot": { + "pad_tip_trim_m": 0.007, + "finger_drive": { + "max_force": 3.0 + } + }, + "physics": { + 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"physical_grasp": true, + "target_lifted": true, + "sustained_rack_support": true, + "target_released": true, + "target_settled": true, + "surroundings_stationary": true, + "no_unintended_contacts_above_0_05N": true, + "nonempty": true, + "uniform_timestamps": true, + "action_timing": true, + "state_action_shapes": true, + "camera_sync": true, + "finite_numeric_data": true, + "measured_gripper_convention": true, + "commanded_gripper_convention": true, + "gripper_bounds": true, + "absolute_targets_held_each_control_period": true, + "physics_contact_log_cadence": true, + "correct_arm_order": true, + "declared_capture_rate": true, + "physics_rate": true, + "initial_robot_state": true, + "three_cameras": true, + "camera_identity_version": true, + "camera_pose_calibration": true, + "wall_image_count": true, + "wrist_image_count": true, + "body_forward_image_count": true, + "distinct_camera_views": true, + "path_tracing": true, + "camera_convergence": true + }, + "run": "/home/richard/real2sim/data/runs/sim_ep_03_pi05_15hz/episodes/episode0028/variation00/render_attempt00_0", + "metrics": { + "fps": 15.0, + "action_horizon": 50, + "frames": 224, + "surroundings_displacement_m": { + "rack": 6.611118616220012e-05, + "clutter_0": 2.9802322387695312e-08, + "clutter_1": 5.034409739896793e-06 + }, + "unintended_contacts": [] + } + }, + "scene_spec_sha256": "8d0ae61bad195c6b04e7c9e3aa3fb8944d9d06c103010d67812777b632af682e", + "raw_synchronized_hdf5_sha256": "f186a0745df81a47cea0223300f114a3ab92d5c01d36d07f620d2ba2bce234ac" +} diff --git a/dataset/provenance/validation_episode000004.json b/dataset/provenance/validation_episode000004.json new file mode 100644 index 0000000000000000000000000000000000000000..fa7b9d4f0585d7f0cb1d63cc20bfdb4349f02abd --- /dev/null +++ b/dataset/provenance/validation_episode000004.json @@ -0,0 +1,6167 @@ +{ + "source_episode": 35, + "variation": 0, + "repo_id": "local/sim_ep_03_validation", + "episode_index": 4, + "scene_spec": { + 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