add 2 staged episodes

N011/go2_arm/dr_on/seed_2022/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'; expected 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "5896 rows vs ceil(11791/2) = 5896"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 241..12031, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "112.95 MB, 5896 frames at 25 fps, mean luma 46..113, std 25, new picture 5895x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "5896 vs 5896"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "152.86 MB, 5896 frames at 25 fps, mean luma 28..155, std 39, new picture 5895x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "5896 vs 5896"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "ladle/000/sim_info"
+  }
+ }
+}

N011/go2_arm/dr_on/seed_2022/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n011_go2_on_2022_r2/out  task=N011  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n011_go2_on_2022_r2/out/ladle/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 5896  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: 5896 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']
+[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'; expected 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'
+rows 5896 at dataset fps 25 = 235.84 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 5896 rows vs ceil(11791/2) = 5896
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 241..12031, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 112.95 MB, 5896 frames at 25 fps, mean luma 46..113, std 25, new picture 5895x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 5896 vs 5896
+[PASS] video observation.images.wrist decodes, 640x480, not black: 152.86 MB, 5896 frames at 25 fps, mean luma 28..155, std 39, new picture 5895x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 5896 vs 5896
+parquet size 582.75 MB
+[PASS] sim_info present: ladle/000/sim_info
+dataset size 854.84 MB; whole cell dir 1096.7 MB
+RESULT: ALL PASS

N011/go2_arm/dr_on/seed_2022/config.yaml

@@ -0,0 +1,758 @@
+env_string: LadleEnv-V0
+env:
+  sim:
+    device: cpu
+    use_fabric: false
+    decimation: 4
+    dt: 0.005
+    seed: 2022
+    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:
+    Go2Plus:
+      name: go2plus
+      type: mobilemanip
+      common:
+        pos:
+        - - -3.0890321881952967
+          - -1.785098298911123
+          - 0.45
+        - - -3.0890321881952967
+          - -1.785098298911123
+          - 0.45
+        ori:
+        - - 0
+          - 0
+          - 29.999999999999993
+        - - 0
+          - 0
+          - 29.999999999999993
+        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_num_seeds: 64
+          ik_position_threshold: 0.005
+          ik_rotation_threshold: 0.05
+          microbatch_wait_ms: 20.0
+          relative_to_world_frame: false
+          eef_num: 1
+          debug: false
+          seed_use_live_joint_pos: true
+        motiongen:
+          type: go2plus
+          enable: true
+          batch_size: 1
+          debug: false
+          motiongen_num_instances: 1
+          microbatch_wait_ms: 400.0
+          mode: position
+          relative_to_world_frame: false
+          eef_num: 1
+          seed_use_live_joint_pos: true
+          anchor_ik_seeds_to_current_state: false
+          num_trajopt_seeds: 1
+          num_ik_seeds: 4
+          max_attempts: 4
+          joint_limit_retry_weight: 100000000.0
+          start_state_limit_inset: 0.002
+        body:
+          type: nav
+          dwb_type: dwb_quadruped
+          dwb_quadruped:
+            device: cpu
+            dt: 0.02
+            debug: false
+            num_rollout_steps: 60
+            num_speed_samples: 11
+            num_steer_samples: 11
+            num_vx_samples: 7
+            num_vy_samples: 7
+            num_yaw_samples: 7
+            max_accel: 0.4
+            max_steer_rate: 1.5
+            max_accel_vx: 0.4
+            max_accel_vy: 0.4
+            max_yaw_accel: 0.4444444444444445
+            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: -0.2
+            max_vx: 0.2
+            min_vy: -0.2
+            max_vy: 0.2
+            min_yaw_rate: -0.22222222222222224
+            max_yaw_rate: 0.22222222222222224
+            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
+  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:
+          - 974.6227927605983
+          - 974.6227927605983
+    water:
+      max_particles: 9000
+      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:
+          - 1.5
+          - 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: 0.783852364377288
+              dynamic_friction: 0.5878892732829659
+              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: 0.7798192916927049
+              dynamic_friction: 0.5848644687695286
+              restitution: 0.0
+      ladle:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Ladle/Object.usda
+        num_per_env: 1
+        random: false
+        ladle_1:
+          pos:
+          - -1.3497559897040452
+          - 3.128992705443463
+          - 0.7410000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 93.74015634396598
+          physics:
+            type: rigid
+            mass: 0.04071656785213924
+            physics_material:
+              static_friction: 1.4773154823388344
+              dynamic_friction: 1.2926510470464798
+              restitution: 0.0
+          water: {}
+      rack_a0:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        rack_a0_1:
+          pos:
+          - -1.35
+          - 3.205
+          - 0.655
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.1
+          - 0.06999999999999999
+          - 0.15000000000000002
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.45
+              - 0.3
+              - 0.18
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.7880324823575174
+              dynamic_friction: 0.591024361768138
+              restitution: 0.0
+      basin:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Basin/Object.usda
+        num_per_env: 1
+        random: false
+        basin_1:
+          pos:
+          - -0.55
+          - 3.2
+          - 0.5950000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.7805032188376888
+              dynamic_friction: 0.5853774141282665
+              restitution: 0.0
+          water: {}
+      cup:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/ReceivingCup/Object.usda
+        num_per_env: 1
+        random: false
+        cup_1:
+          pos:
+          - 2.358833630972854
+          - 0.3892945653527229
+          - 0.5810000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          physics:
+            type: rigid
+            mass: 0.21181180857113746
+            physics_material:
+              static_friction: 0.8221964418366267
+              dynamic_friction: 0.61664733137747
+              restitution: 0.0
+          water: {}
+  nav:
+    navmesh:
+      enabled: true
+      visualize: false
+      bake_timeout_s: 120
+      agent_height_cm: 65
+      min_agent_radius_cm: 30.0
+      max_agent_radius_cm: 30.0
+      max_step_height_cm: 20
+      max_floor_slope_deg: 30
+      agent_island_radius_cm: 5
+      auto_exclude_rigid_bodies: true
+      validate_path_clearance: true
+      validate_path_window: true
+      navmesh_offset_z_m: 0
+      verbose: true
+    occupancymap:
+      cell_size: 0.05
+task:
+  observation: {}
+  reward: {}
+  termination:
+    timeout_steps: 24000
+    success_hold_frames: 1
+  mmb:
+    task_id: N011
+    agent_id: a03
+    embodiment: stretch3
+    level: easy
+    scene_seed: 2022
+    layout:
+      S:
+      - -3.0890321881952967
+      - -1.785098298911123
+      - 0.5235987755982987
+      tables:
+        A:
+          center:
+          - -1.0
+          - 3.2
+          size:
+          - 1.5
+          - 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:
+          - -1.35
+          - 3.12
+          arm_dir:
+          - 0.0
+          - 1.0
+          reach: 0.54
+          fwd: 0.0
+          stand:
+          - -1.35
+          - 2.58
+          - 1.5707963267948966
+        B:
+          table: B
+          work_point:
+          - 2.38
+          - 0.4
+          arm_dir:
+          - 1.0
+          - 0.0
+          reach: 0.54
+          fwd: 0.0
+          stand:
+          - 1.8399999999999999
+          - 0.4
+          - 0.0
+    hold_ticks: 40
+    grace_ticks: 400
+    water_settle_ticks: 150
+    object_settle_ticks: 60
+    planning:
+      avoid:
+      - dynamic
+      ignore:
+      - ladle
+      - water
+    water:
+      max_particles: 9000
+    basin:
+      center:
+      - -0.55
+      - 3.2
+      floor_z: 0.5950000000000001
+      water_depth: 0.1
+      inner:
+      - 0.12
+      - 0.11
+      - 0.12
+      a2_stand:
+      - -0.55
+      - 2.56
+      - 1.5707963267948966
+    cup:
+      center:
+      - 2.358833630972854
+      - 0.3892945653527229
+      rim_above_table: 0.075
+    success:
+      min_deliver_ml: 20.0
+      max_spill_ml: 15.0
+      min_carry_frac: 0.5
+      max_base_speed_at_pour: 0.05
+    tool:
+      category: ladle
+      asset: Ladle
+      plate_z: 0.7400000000000001
+    view:
+      eye:
+      - 2.9299999999999997
+      - -0.15000000000000002
+      - 0.9800000000000001
+      target:
+      - 2.33
+      - 0.4
+      - 0.68
+    dr:
+      seed: 2022
+      spawn_dxy:
+      - -0.089
+      - 0.015
+      friction_scale:
+        basin_1: 0.976
+        cup_1: 1.028
+        ladle_1: 0.923
+        rack_a0_1: 0.985
+        table_a_1: 0.98
+        table_b_1: 0.975
+      moved:
+        ladle_1:
+        - 0.0002
+        - 0.009
+        - 3.74
+        cup_1:
+        - -0.0212
+        - -0.0107
+      light_scale: 1.083
+collect:
+  command:
+    Ladle:
+      stage_retries: 2
+      robot_id: 0
+      init_limit: 30
+      max_attempt: 1
+      completion_timeout_steps: 3600
+      pre_back: 0.12
+      lift: 0.1
+      carry:
+        lateral: 0.5
+        forward: 0.0
+        z: 0.88
+      carry_b:
+        lateral: 0.5
+        forward: 0.0
+        z: 0.88
+      dip:
+        above: 0.12
+        clear_bottom: 0.006
+        rim_under: -0.011
+        tilt_deg: 20.0
+        fill_ticks: 60
+        dwell_ticks: 90
+        rise: 0.12
+        rise_legs:
+        - 0.045
+        - 0.12
+      pour:
+        clearance: 0.06
+        aim: -0.04
+        pre_pitch_deg: 10.0
+        pre_pitch_variants:
+        - 0.0
+        - 5.0
+        - -5.0
+        pitch_deg:
+        - 70.0
+        - 100.0
+        lip_drift: 0.03
+        reach_margin: 0.015
+        hold_ticks: 240
+        stop_ticks: 90
+        drain:
+          pitch_deg: 85.0
+          aim: 0.0
+          hold_ticks: 90
+        mode: roll
+        roll_sign: -1.0
+      modes:
+        pre_grasp: -1
+        grasp: 4
+        lift: 4
+        carry: -1
+        pre_dip: -1
+        dip: 4
+        level: 4
+        trim: 4
+        rise: 4
+        pre_pour: 4
+        tilt: 4
+        retreat: 4
+  global_planner:
+    NavTo:
+      use_navmesh: true
+      use_absolute: true
+      translation_threshold: 0.2
+      rotation_threshold: 0.1
+      num_path_segments: 30
+      start_forward_offset: -0.25
+      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: 0.006
+      rotation_threshold: 0.2
+      stall_release_ticks: 100
+      stall_release_factor: 5.0
+      motiongen_distance_threshold: 0.05
+      timeout_steps: 3000
+      timeout_done_tolerance: 0.06
+      debug: false
+      debug_viz: false
+      debug_sphere: false
+      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: 480
+      interp_validate_target: true
+      stall_release_final_factor: 10.0
+    ParallelGripper:
+      gripper_threshold: 0.0005
+      timeout_steps: 60
+  atomic_skill:
+    NavToPose:
+      robot_id: 0
+      position_threshold: 0.2
+      angle_threshold: 0.3
+      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: ladle
+    max_trajectories: 1
+  record:
+    output_dir: /mnt/scratch/xc536_atomic/n011_go2_on_2022_r2/out
+    formats:
+    - lerobot_v21
+    - sim_info
+    clear_buffer_on_failure: true
+    lerobot:
+      subsample_every: 2
+visual_dr:
+  keep:
+  - Water

N011/go2_arm/dr_on/seed_2022/ladle/000/lerobot_v21/data/chunk-000/episode_000000.parquet

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+oid sha256:b774c69e78789ed7749c38e368917d5f4af36fbb9259556b999cf0aeeecb5e0a
+size 582751137

N011/go2_arm/dr_on/seed_2022/ladle/000/lerobot_v21/meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup."], "length": 5896, "magicsim/control_steps": 11791, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown rack a0. There are a large gray table a, a large gray table b, a medium ladle, a large brown rack a0, a medium basin and a small cup. The gray table a is to the right of the brown rack a0. The gray table b is to the right of the cup. The ladle is on top of the brown rack a0. The ladle is to the right of the brown rack a0. The brown rack a0 is to the left of the ladle. The basin is on top of the gray table a. The basin is to the right of the gray table a. The cup is on top of the gray table b. The cup is to the left of the gray table b. The scene is lit by a cool light from the front. The scene is viewed from front, at table height."}

N011/go2_arm/dr_on/seed_2022/ladle/000/lerobot_v21/meta/extra/episode_000000.json

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+{
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+ "language": {
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+    {
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+     "relation": "right_of",
+     "object": "cup_1"
+    },
+    {
+     "subject": "ladle_1",
+     "relation": "on_top_of",
+     "object": "rack_a0_1"
+    },
+    {
+     "subject": "ladle_1",
+     "relation": "right_of",
+     "object": "rack_a0_1"
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+    {
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+     "relation": "left_of",
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+    {
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+     "object": "table_a_1"
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+    {
+     "subject": "basin_1",
+     "relation": "right_of",
+     "object": "table_a_1"
+    },
+    {
+     "subject": "cup_1",
+     "relation": "on_top_of",
+     "object": "table_b_1"
+    },
+    {
+     "subject": "cup_1",
+     "relation": "left_of",
+     "object": "table_b_1"
+    }
+   ],
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+     "model": "go2plus",
+     "type": "mobilemanip",
+     "noun": "Unitree Go2 EDU quadruped with a Piper arm",
+     "arms": 1,
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+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [
+    {
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+     "kind": "light",
+     "type": "dome",
+     "pose": {
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+     "warmth": "cool",
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+     "direction": "from the front"
+    }
+   ],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1000.0,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown rack a0. There are a large gray table a, a large gray table b, a medium ladle, a large brown rack a0, a medium basin and a small cup. The gray table a is to the right of the brown rack a0. The gray table b is to the right of the cup. The ladle is on top of the brown rack a0. The ladle is to the right of the brown rack a0. The brown rack a0 is to the left of the ladle. The basin is on top of the gray table a. The basin is to the right of the gray table a. The cup is on top of the gray table b. The cup is to the left of the gray table b. 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                      [tab[cup]\n\n [t[basin]\n[rack a0]\n\n\n\n\n                        [robot]"
+  },
+  "task": {
+   "task_type": "Ladle",
+   "instruction": "Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Ladle the 1.5707963267948966.",
+   "task_id": "N011",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {}
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N011/go2_arm/dr_on/seed_2022/ladle/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,290 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-09 12:54:00"
+    },
+    "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": [
+            {
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+                "start": 0,
+                "end": 4,
+                "names": [
+                    "base_action_0",
+                    "base_action_1",
+                    "base_action_2",
+                    "base_action_3"
+                ],
+                "source": "Go2UnifiedLocomotionAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "Go2Plus.arm_action",
+                "start": 4,
+                "end": 11,
+                "names": [
+                    "eef0.pos_x",
+                    "eef0.pos_y",
+                    "eef0.pos_z",
+                    "eef0.quat_w",
+                    "eef0.quat_x",
+                    "eef0.quat_y",
+                    "eef0.quat_z"
+                ],
+                "source": "Go2PlusCuroboIKAction",
+                "names_source": "pose_layout"
+            },
+            {
+                "name": "Go2Plus.eef_action",
+                "start": 11,
+                "end": 12,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 26,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_pos",
+                "start": 0,
+                "end": 24,
+                "names": [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11",
+                    "joint_12",
+                    "joint_13",
+                    "joint_14",
+                    "joint_15",
+                    "joint_16",
+                    "joint_17",
+                    "joint_18",
+                    "joint_19",
+                    "joint_20",
+                    "joint_21",
+                    "joint_22",
+                    "joint_23"
+                ],
+                "source": "ObservationManager",
+                "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)"
+            },
+            {
+                "name": "Go2Plus.gripper_pos",
+                "start": 24,
+                "end": 26,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 20,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_vel",
+                "start": 0,
+                "end": 20,
+                "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"
+                ],
+                "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": {
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N011/go2_arm/dr_on/seed_2022/ladle/000/lerobot_v21/meta/tasks.jsonl

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+                "output_dir": "/mnt/scratch/xc536_atomic/n011_go2_on_2022_r2/out",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
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+                "lerobot": {
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+        "visual_dr": {
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+                "Water"
+            ]
+        }
+    },
+    "git_sha": null,
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}

N011/go2_arm/dr_on/seed_2022/ladle/000/sim_info/0/sim_states.npz

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+size 234968941

N011/go2_arm/dr_on/seed_2022/ladle/000/sim_info/magicsim_manifest.json

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+{
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+    "generated": {
+        "time": "2026-11-09 13:29:11"
+    },
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+                "name": "Go2Plus",
+                "cfg": "Go2PlusCfg",
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+                "joint_names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
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+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
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+                    "go2_FL_calf_joint",
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+                    "go2_RL_calf_joint",
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+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
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+        "nan_policy": "from_raw",
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+        "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)"
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+}

N011/go2_arm/dr_on/seed_2022/ladle/000/visual_dr.json

@@ -0,0 +1,719 @@
+{
+ "version": 1,
+ "settings": {
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+  "keep": [
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+  "material_library": "$MAGICSIM_ASSETS/Material"
+ },
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+   "episode_seed": 2022,
+   "seeds": {
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+   "swapped": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor",
+     "role": "ground",
+     "mdl": "Source/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl",
+     "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway",
+     "bound_prims": 1,
+     "pool_size": 42,
+     "bind_failed": 0
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+     "bind_failed": 0
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+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
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+     "material": "/MmbVdrLooks/Source_Paint_Paint_Gun_Metal",
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+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_1",
+      "rigid_body"
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+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower_geometry/collision_0",
+      "rigid_body"
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+      "rigid_body"
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+      "rigid_body"
+     ],
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+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_0",
+      "rigid_body"
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+      "rigid_body"
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+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/collision_0",
+      "rigid_body"
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+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_1",
+      "rigid_body"
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+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/collision_0",
+      "rigid_body"
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+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_0",
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+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/collision_0",
+      "rigid_body"
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+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower_geometry/collision_0",
+      "rigid_body"
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+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower1_geometry/collision_0",
+      "rigid_body"
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+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/visual_0",
+      "rigid_body"
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+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/collision_0",
+      "rigid_body"
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+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_0",
+      "rigid_body"
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+      "rigid_body"
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+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/collision_0",
+      "rigid_body"
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+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_0",
+      "rigid_body"
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+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_1",
+      "rigid_body"
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+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/collision_0",
+      "rigid_body"
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+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower1_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RR_calf/go2_RR_calf_geometry/visual_0",
+      "rigid_body"
+     ]
+    ]
+   },
+   "material_library": {
+    "root": "/mnt/scratch/xc536_atomic_local/repo_09346515b/Assets/Material",
+    "pool_sizes": {
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+     "wall": 28,
+     "furniture": 38,
+     "object": 54
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+   },
+   "no_swap": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "reason": "glass",
+     "bound_prims": 1
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "reason": "emissive",
+     "bound_prims": 1
+    }
+   ],
+   "unsupported": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "mdl": "OmniGlass.mdl",
+     "bound_prims": 1
+    }
+   ]
+  },
+  {
+   "env_ids": [
+    0
+   ],
+   "reset_index": 1,
+   "episode_seed": 2022,
+   "seeds": {
+    "0": 2022
+   },
+   "lights": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
+     "type": "RectLight",
+     "intensity": 17425.192523,
+     "intensity_base": 15000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 3776.530276,
+     "rotate_deg": [
+      -4.37,
+      -4.835,
+      1.454
+     ]
+    }
+   ],
+   "domes": [
+    {
+     "path": "/World/background",
+     "type": "DomeLight",
+     "intensity": 667.73016,
+     "intensity_base": 1000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 5444.199239,
+     "rotate_deg": [
+      0.0,
+      0.0,
+      313.047
+     ],
+     "dome": {
+      "path": "/World/background",
+      "hdr_base": null,
+      "hdr": "/mnt/scratch/xc536_atomic_local/repo_09346515b/Assets/Background/kloofendal_48d_partly_cloudy_4k.hdr",
+      "color": [
+       0.847535,
+       0.823225,
+       0.84235
+      ]
+     }
+    },
+    {
+     "path": "/World/envs/env_0/Light/light_light_1",
+     "type": "DomeLight",
+     "intensity": 1387.752541,
+     "intensity_base": 974.6228,
+     "enable_color_temperature": true,
+     "color_temperature_k": 4721.192678,
+     "rotate_deg": [
+      0.0,
+      0.0,
+      227.664
+     ],
+     "dome": {
+      "path": "/World/envs/env_0/Light/light_light_1",
+      "hdr_base": null,
+      "hdr": "/mnt/scratch/xc536_atomic_local/repo_09346515b/Assets/Background/mealie_road_4k.hdr",
+      "color": [
+       0.9193,
+       0.8778,
+       0.872
+      ]
+     }
+    }
+   ],
+   "materials": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "shader": "omnipbr",
+     "color": [
+      0.9147,
+      0.9328,
+      0.9747
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+     "color_base": [
+      1.0,
+      1.0,
+      1.0
+     ],
+     "roughness": 0.46429,
+     "roughness_base": 0.5,
+     "bound_prims": 1
+    }
+   ],
+   "display_colors": [],
+   "swapped": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor",
+     "role": "ground",
+     "mdl": "Source/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl",
+     "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway",
+     "bound_prims": 1,
+     "pool_size": 42,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic",
+     "role": "wall",
+     "mdl": "Source/Stone/Steel_Grey.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Steel_Grey",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Masonry/Facade_Brick_Grey.mdl",
+     "material": "/MmbVdrLooks/Source_Masonry_Facade_Brick_Grey",
+     "bound_prims": 22,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
+     "role": "wall",
+     "mdl": "Source/Paint/Paint_Gun_Metal.mdl",
+     "material": "/MmbVdrLooks/Source_Paint_Paint_Gun_Metal",
+     "bound_prims": 10,
+     "pool_size": 28,
+     "bind_failed": 0
+    }
+   ],
+   "skipped": {
+    "unsupported_shader": 1,
+    "protected_material": 0,
+    "error": 0,
+    "instance_proxy": 0,
+    "no_swap": 2,
+    "bind_failed": 0
+   },
+   "keep_hits": {
+    "Water": 2
+   },
+   "physics_skip": {
+    "physics_binding": 55,
+    "rigid_body": 222,
+    "examples": [
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower1_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower1_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower1_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RR_calf/go2_RR_calf_geometry/visual_0",
+      "rigid_body"
+     ]
+    ]
+   },
+   "material_library": {
+    "root": "/mnt/scratch/xc536_atomic_local/repo_09346515b/Assets/Material",
+    "pool_sizes": {
+     "ground": 42,
+     "wall": 28,
+     "furniture": 38,
+     "object": 54
+    }
+   },
+   "no_swap": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "reason": "glass",
+     "bound_prims": 1
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "reason": "emissive",
+     "bound_prims": 1
+    }
+   ],
+   "unsupported": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "mdl": "OmniGlass.mdl",
+     "bound_prims": 1
+    }
+   ]
+  }
+ ]
+}

N011/stretch3/dr_on/seed_2042/check.json

@@ -27,27 +27,27 @@
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,
-   "detail": "4229 rows vs ceil(8457/2) = 4229"
+   "detail": "4228 rows vs ceil(8456/2) = 4228"
   },
   "rows are every 2nd control step (sim_step_idx)": {
    "pass": true,
-   "detail": "sim_step_idx 241..8697, step differences [2]"
+   "detail": "sim_step_idx 241..8695, step differences [2]"
   },
   "video observation.images.head decodes, 640x480, not black": {
    "pass": true,
-   "detail": "62.95 MB, 4229 frames at 25 fps, mean luma 66..114, std 19, new picture 4228x = 25.0 per s"
+   "detail": "63.28 MB, 4228 frames at 25 fps, mean luma 66..114, std 19, new picture 4227x = 25.0 per s"
   },
   "video observation.images.head frames = parquet rows": {
    "pass": true,
-   "detail": "4229 vs 4229"
+   "detail": "4228 vs 4228"
   },
   "video observation.images.wrist decodes, 640x480, not black": {
    "pass": true,
-   "detail": "95.20 MB, 4229 frames at 25 fps, mean luma 68..121, std 34, new picture 4228x = 25.0 per s"
+   "detail": "95.67 MB, 4228 frames at 25 fps, mean luma 68..121, std 34, new picture 4227x = 25.0 per s"
   },
   "video observation.images.wrist frames = parquet rows": {
    "pass": true,
-   "detail": "4229 vs 4229"
+   "detail": "4228 vs 4228"
   },
   "sim_info present": {
    "pass": true,

N011/stretch3/dr_on/seed_2042/check.txt

@@ -1,21 +1,21 @@
 collect dataset check  cell=/mnt/scratch/xc536_atomic/n011_str_on_2042_r1/out  task=N011  at verify_collect_dataset.py
-dataset root /mnt/scratch/xc536_atomic/n011_str_on_2042_r1/out/ladle/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 4229  videos 2  robot_type HelloRobotCfg
+dataset root /mnt/scratch/xc536_atomic/n011_str_on_2042_r1/out/ladle/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 4228  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: 4229 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+--- episode file episode_000000.parquet: 4228 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 water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'; expected 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'
-rows 4229 at dataset fps 25 = 169.16 s
-[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 4229 rows vs ceil(8457/2) = 4229
-[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 241..8697, step differences [2]
-[PASS] video observation.images.head decodes, 640x480, not black: 62.95 MB, 4229 frames at 25 fps, mean luma 66..114, std 19, new picture 4228x = 25.0 per s
-[PASS] video observation.images.head frames = parquet rows: 4229 vs 4229
-[PASS] video observation.images.wrist decodes, 640x480, not black: 95.20 MB, 4229 frames at 25 fps, mean luma 68..121, std 34, new picture 4228x = 25.0 per s
-[PASS] video observation.images.wrist frames = parquet rows: 4229 vs 4229
-parquet size 414.33 MB
+rows 4228 at dataset fps 25 = 169.12 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 4228 rows vs ceil(8456/2) = 4228
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 241..8695, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 63.28 MB, 4228 frames at 25 fps, mean luma 66..114, std 19, new picture 4227x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 4228 vs 4228
+[PASS] video observation.images.wrist decodes, 640x480, not black: 95.67 MB, 4228 frames at 25 fps, mean luma 68..121, std 34, new picture 4227x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 4228 vs 4228
+parquet size 414.25 MB
 [PASS] sim_info present: ladle/000/sim_info
-dataset size 578.64 MB; whole cell dir 1262.9 MB
+dataset size 579.35 MB; whole cell dir 1263.6 MB
 RESULT: ALL PASS

N011/stretch3/dr_on/seed_2042/ladle/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:44e2eba0c09cea1be31d32b38844ee9fdba21fd1db3f967294031dbbdedbeea2
-size 414333521
+oid sha256:dd0cf3e3c0d83137409c026b92fcfa2ead58410d364b28c7457a866cb8599cad
+size 414249777

N011/stretch3/dr_on/seed_2042/ladle/000/lerobot_v21/meta/episodes.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "tasks": ["Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup."], "length": 4229, "magicsim/control_steps": 8457, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown rack a0. There are a large gray table a, a large gray table b, a medium ladle, a large brown rack a0, a medium basin and a small cup. The gray table a is to the left of the brown rack a0. The gray table b is to the left of the cup. The ladle is on top of the brown rack a0. The ladle is in front of the brown rack a0. The brown rack a0 is behind the ladle. The basin is on top of the gray table a. The basin is to the left of the gray table a. The cup is on top of the gray table b. The cup is to the right of the gray table b. The scene is lit by a cool light from the back-left. The scene is viewed from back-left, slightly above table height."}
+{"episode_index": 0, "tasks": ["Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup."], "length": 4228, "magicsim/control_steps": 8456, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown rack a0. There are a large gray table a, a large gray table b, a medium ladle, a large brown rack a0, a medium basin and a small cup. The gray table a is to the left of the brown rack a0. The gray table b is to the left of the cup. The ladle is on top of the brown rack a0. The ladle is in front of the brown rack a0. The brown rack a0 is behind the ladle. The basin is on top of the gray table a. The basin is to the left of the gray table a. The cup is on top of the gray table b. The cup is to the right of the gray table b. The scene is lit by a cool light from the back-left. The scene is viewed from back-left, slightly above table height."}

N011/stretch3/dr_on/seed_2042/ladle/000/lerobot_v21/meta/extra/episode_000000.json

@@ -4,7 +4,7 @@
  "env_id": 0,
  "task_type": "Ladle",
  "subsample_every": 2,
- "control_steps": 8457,
+ "control_steps": 8456,
  "language": {
   "scene": {
    "objects": [
@@ -72,20 +72,20 @@
      "material": null,
      "category": "rigid",
      "pos": [
-      -4.921209168267893,
-      -0.4861827559971526,
-      0.6800011854205724
+      -4.921209470928867,
+      -0.4861821079330336,
+      0.6800012450252363
      ],
      "bbox": {
       "extent": [
-       0.2721733560491859,
-       0.0792939808894958,
-       0.15500771161834093
+       0.2721733011618178,
+       0.07929039924749347,
+       0.15500728948205134
       ],
       "center": [
-       0.07447769809164947,
-       -0.004082279254797091,
-       -0.06750023288800183
+       0.07447763316479912,
+       -0.004080563390589258,
+       -0.06750001798700678
       ]
      }
     },
@@ -153,20 +153,20 @@
      "material": null,
      "category": "rigid",
      "pos": [
-      -4.0511584655038755,
-      4.041821040834881,
-      0.5200003602161088
+      -4.051158492506548,
+      4.041821028224007,
+      0.5200003602161115
      ],
      "bbox": {
       "extent": [
-       0.13726826721563704,
-       0.13726828216928422,
-       0.07500003105002373
+       0.13726835638058704,
+       0.1372683050341136,
+       0.0750001100240143
       ],
       "center": [
-       -3.885780586188048e-16,
-       8.326672684688674e-17,
-       0.037500001490116286
+       -1.2698175844150228e-15,
+       -1.3877787807814457e-16,
+       0.03750000105554063
       ]
      }
     }

N011/stretch3/dr_on/seed_2042/ladle/000/lerobot_v21/meta/info.json

@@ -2,7 +2,7 @@
     "codebase_version": "v2.1",
     "robot_type": "HelloRobotCfg",
     "total_episodes": 1,
-    "total_frames": 4229,
+    "total_frames": 4228,
     "total_tasks": 1,
     "total_videos": 2,
     "total_chunks": 1,

N011/stretch3/dr_on/seed_2042/ladle/000/lerobot_v21/meta/magicsim_manifest.json

@@ -1,7 +1,7 @@
 {
     "schema_version": 1,
     "generated": {
-        "time": "2026-11-09 13:00:54"
+        "time": "2026-11-09 13:32:08"
     },
     "embodiment": {
         "robots": [

N011/stretch3/dr_on/seed_2042/ladle/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:11b55e282bfb4b786a3e4b673ea6f5da35dbd9fb86a0189f52c825309e9eb92f
-size 62953352
+oid sha256:5552c0e58be5d522d79ec15868dda46f8d55e1a3c2ab2d383041e1837ed93804
+size 63280997

N011/stretch3/dr_on/seed_2042/ladle/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

@@ -1,3 +1,3 @@
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-oid sha256:e9c04566d345bad0b6c73e3e8e059f78d080fb755dcbadf833b29c2b7f85b9a5
-size 95203246
+oid sha256:e919fff7039205d3056ec4e95270ee146910b767aee3fb02e3a046a71fde74b7
+size 95672823

N011/stretch3/dr_on/seed_2042/ladle/000/run_meta.json

@@ -1,6 +1,6 @@
 {
     "run_id": "ladle/000",
-    "created": "2026-11-09 12:34:52",
+    "created": "2026-11-09 13:07:00",
     "num_envs": 1,
     "session_id": null,
     "record_config": {

N011/stretch3/dr_on/seed_2042/ladle/000/sim_info/0/actions.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d7c72c4b695cb0d0718422c1e938ed9b3ae874237d6327425580c326b418e965
-size 814146
+oid sha256:dfc907fd96f7b385087e6ac821de6ff164bbb783bdabaee786285a2a570015a3
+size 815846

N011/stretch3/dr_on/seed_2042/ladle/000/sim_info/0/sim_states.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
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-size 677044846
+oid sha256:de60aa5aab657dde573537470e8bc166972a3c843cd773d9631b71bf9d53c689
+size 676986183

N011/stretch3/dr_on/seed_2042/ladle/000/sim_info/magicsim_manifest.json

@@ -1,7 +1,7 @@
 {
     "schema_version": 1,
     "generated": {
-        "time": "2026-11-09 13:01:42"
+        "time": "2026-11-09 13:32:57"
     },
     "embodiment": {
         "robots": [