add N021/sawyer_umi/dr_on/seed_2042

N021/sawyer_umi/dr_on/seed_2042/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.'; expected 'Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1356 rows vs ceil(2711/2) = 1356"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 31..2741, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "18.77 MB, 1356 frames at 25 fps, mean luma 70..114, std 35, new picture 1355x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1356 vs 1356"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "20.44 MB, 1356 frames at 25 fps, mean luma 77..119, std 30, new picture 1355x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1356 vs 1356"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stationassembly/000/sim_info"
+  }
+ }
+}

N021/sawyer_umi/dr_on/seed_2042/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n021_saw_on_2042/out  task=N021  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n021_saw_on_2042/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1356  videos 2  robot_type RidgebackSawyerUmiCfg
+[PASS] codebase v2.1: v2.1
+[PASS] dataset fps = 25: info.fps 25
+(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only)
+[PASS] parquet episodes: 1 files, info.total_episodes=1
+--- episode file episode_000000.parquet: 1356 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']
+[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.'; expected 'Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.'
+rows 1356 at dataset fps 25 = 54.24 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1356 rows vs ceil(2711/2) = 1356
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..2741, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 18.77 MB, 1356 frames at 25 fps, mean luma 70..114, std 35, new picture 1355x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1356 vs 1356
+[PASS] video observation.images.wrist decodes, 640x480, not black: 20.44 MB, 1356 frames at 25 fps, mean luma 77..119, std 30, new picture 1355x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1356 vs 1356
+parquet size 2.00 MB
+[PASS] sim_info present: stationassembly/000/sim_info
+dataset size 41.38 MB; whole cell dir 42.3 MB
+RESULT: ALL PASS

N021/sawyer_umi/dr_on/seed_2042/report.json

@@ -0,0 +1,1769 @@
+{
+  "task": "N021",
+  "agent_id": null,
+  "embodiment": "sawyer_umi",
+  "level": "easy",
+  "scene_seed": 2042,
+  "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)",
+  "config": "/scratch/xc536/magicsim_atomic/MagicSim/src/magicsim/Collect/Task/MobileAssembly/Conf/n021_peg_insertion.yaml",
+  "full_success": true,
+  "failure_reason": null,
+  "dr": {
+    "seed": 2042,
+    "rack_peg": {
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+      "dy": -0.02782,
+      "yaw_deg": -5.61275
+    },
+    "hole_block": {
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+      "dy": -0.01293,
+      "yaw_deg": -5.01836
+    },
+    "peg_mass": 0.04926,
+    "peg_friction": 0.80668,
+    "light": 1003.32007,
+    "spawn": {
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+      "dy": 0.08177,
+      "yaw_deg": -13.92825
+    },
+    "overrides": {
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+      "env.scene.objects.peg.peg_1.physics.physics_material.dynamic_friction": 0.80668,
+      "env.scene.background.intensity": [
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+      "env.robot.RidgebackSawyerUmi.common.ori": [
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+        [
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+  },
+  "planner_seeds": {
+    "label": "default",
+    "num_trajopt_seeds": null,
+    "num_ik_seeds": null,
+    "max_attempts": 6
+  },
+  "collect": {
+    "task": "N021",
+    "robot": "sawyer_umi",
+    "visual_dr": true,
+    "env": {
+      "MMB_COLLECT": "1",
+      "MMB_TASK_ID": "N021",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "1"
+    },
+    "cameras": {
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+      },
+      "wrist": {
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+        "horizontal_aperture": 3.6,
+        "vertical_aperture": 2.7
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+    "resolution": [
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+    "camera_hz": 25,
+    "record": {
+      "formats": [
+        "lerobot_v21",
+        "sim_info"
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+      "clear_buffer_on_failure": true,
+      "lerobot": {
+        "subsample_every": 2
+      }
+    }
+  },
+  "steps": 2741,
+  "task_id": "N021",
+  "task_version": "EXT60-MobileAvatar-v3",
+  "family_id": "peg_insertion",
+  "primary_category": "C4",
+  "env_terminated": true,
+  "env_truncated": false,
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+}

N021/sawyer_umi/dr_on/seed_2042/stationassembly/000/completed/0.json

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N021/sawyer_umi/dr_on/seed_2042/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json

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+        0.0,
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+      -0.8863831919950701,
+      -0.02999996343307683
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+       -0.05979999899864197,
+       0.029999999329447746
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+    }
+   ],
+   "robots": [
+    {
+     "name": "RidgebackSawyerUmi",
+     "model": "ridgebacksawyer_umi",
+     "type": "mobilemanip",
+     "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
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+       -2.41823,
+       0.06
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+      "ori": [
+       0.9202600121498108,
+       0.0,
+       0.0,
+       0.39130741357803345
+      ]
+     },
+     "facing_yaw_deg": 46.071749655435376,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1003.32007,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small peg rack, a small hole block and a small peg. The gray table A is to the left of the peg rack. The gray table B is to the left of the hole block. The hole block is on top of the gray table B. The hole block is to the right of the gray table B. The peg is on top of the peg rack. The scene is viewed from front, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                   [hole block]\n\n\n\n[ta[peg]rack]\n\n\n\n                        [robot]"
+  },
+  "task": {
+   "task_type": "StationAssembly",
+   "instruction": "Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Stationassembly the 1.5707963267948966.",
+   "task_id": "N021",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {
+   "frame_0620": {
+    "frame_idx": 620,
+    "caption": "Computing a grasp pose for the small peg; the right gripper is below and in front of the peg.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_0628": {
+    "frame_idx": 628,
+    "caption": "Working on the small peg; the right gripper is below and in front of the peg.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_0701": {
+    "frame_idx": 701,
+    "caption": "Working on the small peg; the right gripper is below the peg.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_0730": {
+    "frame_idx": 730,
+    "caption": "Working on the small peg; the right gripper is below and to the left of the peg.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of"
+    ]
+   },
+   "frame_0743": {
+    "frame_idx": 743,
+    "caption": "Working on the small peg; the right gripper is below and to the left of and behind the peg.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "behind"
+    ]
+   },
+   "frame_0823": {
+    "frame_idx": 823,
+    "caption": "Working on the small peg; the right gripper is below and behind the peg.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "behind"
+    ]
+   },
+   "frame_0837": {
+    "frame_idx": 837,
+    "caption": "Working on the small peg; the right gripper is below the peg.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1169": {
+    "frame_idx": 1169,
+    "caption": "Done — the small peg is grasped; the right gripper is below the peg.",
+    "skill": "Grasp",
+    "phase": "completed",
+    "skill_state": "finished",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1170": {
+    "frame_idx": 1170,
+    "caption": "Working on the small peg; the right gripper is below the peg.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1212": {
+    "frame_idx": 1212,
+    "caption": "Working on the small peg; the right gripper is below and in front of the peg.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_1231": {
+    "frame_idx": 1231,
+    "caption": "Working on the small peg; the right gripper is below and to the left of and in front of the peg.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2191": {
+    "frame_idx": 2191,
+    "caption": "Computing a grasp pose for the small hole block; the right gripper is below and to the left of and in front of the hole block.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "hole_block_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2196": {
+    "frame_idx": 2196,
+    "caption": "Working on the small hole block; the right gripper is below and to the left of and in front of the hole block.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "hole_block_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2347": {
+    "frame_idx": 2347,
+    "caption": "Working on the small hole block; the right gripper is below and in front of the hole block.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "hole_block_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_2350": {
+    "frame_idx": 2350,
+    "caption": "Working on the small hole block; the right gripper is below the hole block.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "hole_block_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_2396": {
+    "frame_idx": 2396,
+    "caption": "Computing a grasp pose for the small hole block; the right gripper is below the hole block.",
+    "skill": "ReachStance",
+    "phase": "verify",
+    "skill_state": "computing",
+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "hole_block_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_2399": {
+    "frame_idx": 2399,
+    "caption": "Working on the small peg; the right gripper is below and to the left of and behind the peg.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:pre_insert",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "behind"
+    ]
+   }
+  }
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N021/sawyer_umi/dr_on/seed_2042/stationassembly/000/lerobot_v21/meta/info.json

@@ -0,0 +1,282 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "RidgebackSawyerUmiCfg",
+    "total_episodes": 1,
+    "total_frames": 1356,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
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+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
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+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "frame0.pos_x",
+                "frame0.pos_y",
+                "frame0.pos_z",
+                "frame0.quat_w",
+                "frame0.quat_x",
+                "frame0.quat_y",
+                "frame0.quat_z",
+                "gripper"
+            ]
+        },
+        "action_is_hold": {
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+        },
+        "observation.state": {
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+            "shape": [
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+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "right_j0",
+                "head_pan",
+                "right_j1",
+                "right_j2",
+                "right_j3",
+                "right_j4",
+                "right_j5",
+                "right_j6",
+                "right_gripper_l_finger_joint",
+                "right_gripper_r_finger_joint",
+                "gripper_0",
+                "gripper_1"
+            ]
+        },
+        "observation.joint_vel": {
+            "dtype": "float32",
+            "shape": [
+                13
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "right_j0",
+                "head_pan",
+                "right_j1",
+                "right_j2",
+                "right_j3",
+                "right_j4",
+                "right_j5",
+                "right_j6",
+                "right_gripper_l_finger_joint",
+                "right_gripper_r_finger_joint"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
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+        },
+        "observation.environment_state": {
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+            "names": [
+                "object_pose.hole_block.0",
+                "object_pose.hole_block.1",
+                "object_pose.hole_block.2",
+                "object_pose.hole_block.3",
+                "object_pose.hole_block.4",
+                "object_pose.hole_block.5",
+                "object_pose.hole_block.6",
+                "object_pose.peg.0",
+                "object_pose.peg.1",
+                "object_pose.peg.2",
+                "object_pose.peg.3",
+                "object_pose.peg.4",
+                "object_pose.peg.5",
+                "object_pose.peg.6",
+                "object_pose.peg_rack.0",
+                "object_pose.peg_rack.1",
+                "object_pose.peg_rack.2",
+                "object_pose.peg_rack.3",
+                "object_pose.peg_rack.4",
+                "object_pose.peg_rack.5",
+                "object_pose.peg_rack.6",
+                "object_pose.table_A.0",
+                "object_pose.table_A.1",
+                "object_pose.table_A.2",
+                "object_pose.table_A.3",
+                "object_pose.table_A.4",
+                "object_pose.table_A.5",
+                "object_pose.table_A.6",
+                "object_pose.table_B.0",
+                "object_pose.table_B.1",
+                "object_pose.table_B.2",
+                "object_pose.table_B.3",
+                "object_pose.table_B.4",
+                "object_pose.table_B.5",
+                "object_pose.table_B.6"
+            ]
+        },
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+            "names": null
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+            "shape": [
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+        },
+        "collect_info": {
+            "dtype": "string",
+            "shape": [
+                1
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+            "names": null
+        },
+        "extra.reward": {
+            "dtype": "float32",
+            "shape": [
+                1
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+            "names": null
+        },
+        "extra.action_info": {
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+            "shape": [
+                1
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+            "names": null
+        },
+        "next.truncated": {
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+        },
+        "sim_step_idx": {
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+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "timestamp": {
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+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25,
+                "video.codec": "libsvtav1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25,
+                "video.codec": "libsvtav1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        }
+    }
+}

N021/sawyer_umi/dr_on/seed_2042/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,264 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-07 21:40:13"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "RidgebackSawyerUmi",
+                "cfg": "RidgebackSawyerUmiCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HolonomicAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "frame0.pos_x",
+                    "frame0.pos_y",
+                    "frame0.pos_z",
+                    "frame0.quat_w",
+                    "frame0.quat_x",
+                    "frame0.quat_y",
+                    "frame0.quat_z"
+                ],
+                "source": "PinkInverseKinematicsAction",
+                "names_source": "pink_layout"
+            },
+            {
+                "name": "RidgebackSawyerUmi.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
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N021/sawyer_umi/dr_on/seed_2042/stationassembly/000/sim_info/0/actions.npz

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+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.gripper_pos",
+                "start": 13,
+                "end": 15,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 13,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_vel",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
+                "K": [
+                    [
+                        355.55555555555554,
+                        0.0,
+                        320.0
+                    ],
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+                        355.55555555555554,
+                        240.0
+                    ],
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+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 83.97442499163331,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.21660000085830688,
+                0.0,
+                -0.04500000178813934
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+            "quat": [
+                -0.6743797063827515,
+                0.21263112127780914,
+                -0.21263112127780914,
+                0.6743797659873962
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        320.0,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        320.0,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 90.0,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.05979999899864197,
+                0.0,
+                0.029999999329447746
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+            "quat": [
+                6.123234262925839e-17,
+                0.7071067690849304,
+                0.7071067690849304,
+                -4.329780301713277e-17
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "stationassembly/000",
+        "task_type": "StationAssembly"
+    }
+}

N021/sawyer_umi/dr_on/seed_2042/stationassembly/000/visual_dr.json

@@ -0,0 +1,674 @@
+{
+ "version": 1,
+ "settings": {
+  "enabled": false,
+  "keep": [
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+   "*/Camera*",
+   "*/camera*"
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+   1.5
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+  "dome_tint_sat": [
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+   0.15
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+  "hdr_dir": "$MAGICSIM_ASSETS/Background",
+  "tint_sat": [
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+   0.3
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+   1.0
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+   1.25
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+  "material_swap_prob": 1.0,
+  "material_library": "$MAGICSIM_ASSETS/Material"
+ },
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+   },
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+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
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+     "intensity": 11529.441504,
+     "intensity_base": 15000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 5511.832972,
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+      1.259,
+      -3.225
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+     "intensity": 909.59316,
+     "intensity_base": 1003.3201,
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+     "color_temperature_k": 6110.967916,
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+       0.791265,
+       0.838355
+      ]
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+    }
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+      1.0,
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+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor",
+     "role": "ground",
+     "mdl": "Source/Concrete/Concrete_Polished.mdl",
+     "material": "/MmbVdrLooks/Source_Concrete_Concrete_Polished",
+     "bound_prims": 1,
+     "pool_size": 42,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic",
+     "role": "wall",
+     "mdl": "Source/Concrete/Stone_Pores_Weathered.mdl",
+     "material": "/MmbVdrLooks/Source_Concrete_Stone_Pores_Weathered",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
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+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl",
+     "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway",
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+     "bind_failed": 0
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+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
+     "role": "wall",
+     "mdl": "Source/Masonry/Sandstone_Brick_Vintage.mdl",
+     "material": "/MmbVdrLooks/Source_Masonry_Sandstone_Brick_Vintage",
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+    "examples": [
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+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_1/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_2/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_3/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_4/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_5/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_6/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_7/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_1/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/front_laser/visuals/front_laser_visuals/World/mesh",
+      "rigid_body"
+     ],
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+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/rear_laser/collisions/mesh_0/box",
+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
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+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/collisions/mesh_0/cylinder",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh1",
+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
+     ],
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+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh4",
+      "rigid_body"
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+     [
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+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh",
+      "rigid_body"
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+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh6",
+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
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+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh",
+      "rigid_body"
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+     [
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+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
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+     [
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+      "rigid_body"
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+     [
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+      "rigid_body"
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+      "rigid_body"
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+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh7",
+      "rigid_body"
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+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh8",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh1",
+      "rigid_body"
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+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh9",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/collisions/mesh_0/sphere",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/screen/visuals/mesh_0/box",
+      "rigid_body"
+     ]
+    ]
+   },
+   "material_library": {
+    "root": "/scratch/xc536/magicsim_atomic/MagicSim/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
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+   "reset_index": 1,
+   "episode_seed": 2042,
+   "seeds": {
+    "0": 2042
+   },
+   "lights": [
+    {
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+     "type": "RectLight",
+     "intensity": 11529.441504,
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+       0.791265,
+       0.838355
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+   "materials": [
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+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "shader": "omnipbr",
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+      0.6451,
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+   ],
+   "display_colors": [],
+   "swapped": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor",
+     "role": "ground",
+     "mdl": "Source/Concrete/Concrete_Polished.mdl",
+     "material": "/MmbVdrLooks/Source_Concrete_Concrete_Polished",
+     "bound_prims": 1,
+     "pool_size": 42,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic",
+     "role": "wall",
+     "mdl": "Source/Concrete/Stone_Pores_Weathered.mdl",
+     "material": "/MmbVdrLooks/Source_Concrete_Stone_Pores_Weathered",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl",
+     "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway",
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+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
+     "role": "wall",
+     "mdl": "Source/Masonry/Sandstone_Brick_Vintage.mdl",
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+      "rigid_body"
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+     [
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+     ],
+     [
+      "/World/envs/env_0/Robot_0/rear_laser/collisions/mesh_0/box",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/collisions/mesh_0/cylinder",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh3",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh4",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh5",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh6",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/collisions/mesh_0/sphere",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh3",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh5",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh6",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh4",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh7",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh8",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh9",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/collisions/mesh_0/sphere",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/screen/visuals/mesh_0/box",
+      "rigid_body"
+     ]
+    ]
+   },
+   "material_library": {
+    "root": "/scratch/xc536/magicsim_atomic/MagicSim/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
+    }
+   ]
+  }
+ ]
+}