add N010/go2_arm/dr_off/seed_7047

N010/go2_arm/dr_off/seed_7047/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 tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head.'; expected 'Go to the tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1208 rows vs ceil(2416/2) = 1208"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 61..2475, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "5.23 MB, 1208 frames at 25 fps, mean luma 118..148, std 15, new picture 1207x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1208 vs 1208"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "21.85 MB, 1208 frames at 25 fps, mean luma 110..172, std 33, new picture 1207x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1208 vs 1208"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "record/stationhammer/000/sim_info"
+  }
+ }
+}

N010/go2_arm/dr_off/seed_7047/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/sz850_atomic/n010_go2_off_7047/out  task=N010  at verify_collect_dataset.py
+dataset root /mnt/scratch/sz850_atomic/n010_go2_off_7047/out/record/stationhammer/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1208  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: 1208 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 tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head.'; expected 'Go to the tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head.'
+rows 1208 at dataset fps 25 = 48.32 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1208 rows vs ceil(2416/2) = 1208
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2475, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 5.23 MB, 1208 frames at 25 fps, mean luma 118..148, std 15, new picture 1207x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1208 vs 1208
+[PASS] video observation.images.wrist decodes, 640x480, not black: 21.85 MB, 1208 frames at 25 fps, mean luma 110..172, std 33, new picture 1207x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1208 vs 1208
+parquet size 2.31 MB
+[PASS] sim_info present: record/stationhammer/000/sim_info
+dataset size 29.61 MB; whole cell dir 30.9 MB
+RESULT: ALL PASS

N010/go2_arm/dr_off/seed_7047/config.yaml

@@ -0,0 +1,562 @@
+env:
+  sim:
+    device: cpu
+    use_fabric: false
+    decimation: 4
+    dt: 0.005
+    soft_resets: 2
+    scene:
+      num_envs: 1
+      env_spacing: 20
+    render:
+      rendering_mode: performance
+      enable_reflections: false
+      enable_global_illumination: false
+      enable_translucency: false
+      enable_dl_denoiser: false
+    contact_reports: true
+    physx:
+      gpu_dynamics: false
+    seed: 7047
+  robot:
+    Go2Plus:
+      name: go2plus
+      type: mobilemanip
+      common:
+        pos:
+        - - -3.5
+          - -2.3
+          - 0.42000000000000004
+        - - -2.9000000000000004
+          - -1.7
+          - 0.42000000000000004
+        ori:
+        - - 0.0
+          - 0.0
+          - -20.0
+        - - 0.0
+          - 0.0
+          - 20.0
+        initial_joint_pos: null
+      action:
+        base_action: ${oc.env:GO2PLUS_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: 1.5
+            max_steer_rate: 1.5
+            max_accel_vx: 1.5
+            max_accel_vy: 1.5
+            max_yaw_accel: 1.5
+            w_goal: 6.0
+            w_path: 24.0
+            w_vel: 0.2
+            w_vy: 0.0
+            dilate_radius: 0.2
+            goal_cost_mode: path
+            room_size: 12.0
+            occupancy_update_interval: 25
+            scan_height: 0.38
+            scan_min_z: 0.15
+            scan_max_z: 0.63
+            goal_pos_threshold: 0.1
+            goal_yaw_threshold: 0.08
+            goal_yaw_hysteresis: 0.02
+            kp_goal_yaw: 4.0
+            heading_reference: path
+            turn_yaw_threshold: 0.8
+            heading_lookahead: 0.8
+            heading_min_leg: 0.35
+            route_yaw_gain: 2.0
+            min_vx: -0.35
+            max_vx: 0.35
+            min_vy: -0.25
+            max_vy: 0.25
+            min_yaw_rate: -0.8
+            max_yaw_rate: 0.8
+            dynamic_window_source: command
+            default_height: 0.39
+            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
+  nav:
+    navmesh:
+      enabled: true
+      visualize: false
+      bake_timeout_s: 180
+      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: false
+    occupancymap:
+      cell_size: 0.05
+  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
+    objects:
+      table_a:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 1.2
+          - -1.8
+          - 0.28
+          ori:
+          - 0
+          - 0
+          - 0
+          scale:
+          - 0.6
+          - 0.9
+          - 0.5
+        table_a_1:
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - 0.55
+            - 0.42
+            - 0.3
+          physics:
+            type: geometry
+            collision: true
+      table_b:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 2.2
+          - 2.0
+          - 0.28
+          ori:
+          - 0
+          - 0
+          - 0
+          scale:
+          - 0.9
+          - 0.6
+          - 0.5
+        table_b_1:
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - 0.55
+            - 0.42
+            - 0.3
+          physics:
+            type: geometry
+            collision: true
+      hammer_rack:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MobileDaily/hammer_rack/Object.usda
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - - 1.2
+            - -1.8
+            - 0.53
+          - - 1.2
+            - -1.8
+            - 0.53
+          ori:
+          - - 0
+            - 0
+            - 0.0
+          - - 0
+            - 0
+            - 0.0
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+        hammer_rack_1:
+          visual: {}
+          physics:
+            type: geometry
+            collision: true
+      hammer:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MobileDaily/hammer/Object.usda
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - - 1.2
+            - -1.8
+            - 0.602
+          - - 1.2
+            - -1.8
+            - 0.602
+          ori:
+          - - 0
+            - 0
+            - 0.0
+          - - 0
+            - 0
+            - 0.0
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+        hammer_1:
+          visual: {}
+          physics:
+            type: rigid
+            collision: true
+            physics_material:
+              static_friction: 1.0
+              dynamic_friction: 1.0
+              restitution: 0.0
+      strike_block:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MobileDaily/strike_block/Object.usda
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - - 2.1900000000000004
+            - 1.99
+            - 0.531
+          - - 2.21
+            - 2.01
+            - 0.531
+          ori:
+          - - 0
+            - 0
+            - 0.0
+          - - 0
+            - 0
+            - 0.0
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+        strike_block_1:
+          visual: {}
+          physics:
+            type: rigid
+            collision: true
+            physics_material:
+              static_friction: 1.0
+              dynamic_friction: 1.0
+              restitution: 0.0
+            track_contact_forces: true
+            prepare_contact_sensor: true
+            contact_filter_prim_paths_expr:
+            - /World/envs/env_.*/dynamic/hammer/hammer_1
+task:
+  observation: {}
+  reward: {}
+  termination:
+    timeout_steps: 12000
+    success_hold_frames: 3
+    fall_height: 0.08
+    fall_tilt: 1.0
+  station:
+    level: easy
+    agent_id: a02
+    embodiment: go2_arm
+    task_version: EXT60-MobileAvatar-v3
+    execution_mode: expert_collect
+    layout:
+      table_h: 0.5
+      standoff: 0.306
+      standoff_b: 0.42
+    settle_ticks: 40
+    hold_ticks: 5
+    judge_timeout_ticks: 300
+    default_avoid: []
+    report_jsonl: /mnt/scratch/sz850_atomic/n010_go2_off_7047/out/reports.jsonl
+    carried:
+      type: rigid
+      name: hammer
+      id: 0
+    tracked:
+    - type: rigid
+      name: strike_block
+      id: 0
+    planner_seeds: lean
+    cloth_variant: null
+    record_scene_streams: true
+collect:
+  global_planner:
+    NavTo:
+      use_navmesh: true
+      use_absolute: true
+      translation_threshold: 0.12
+      rotation_threshold: 0.12
+      num_path_segments: 30
+      start_forward_offset: 0.0
+      visualize_path: false
+      carry_arm: true
+    MobileMoveL:
+      translation_threshold: 0.012
+      rotation_threshold: 0.25
+      motiongen_distance_threshold: 0.05
+      timeout_steps: 1800
+      reactive: false
+      base_pos_threshold: 0.12
+      base_rot_threshold: 0.5
+      eef_pos_threshold: 0.03
+      eef_rot_threshold: 0.3
+      waypoint_max_steps: 8
+      interp_steps: 60
+      debug: false
+      debug_viz: false
+      retry_mobile_on_locked_plan_failure: true
+      stall_release_ticks: 100
+      stall_release_factor: 5.0
+      interp_validate_target: true
+    RetractMoveL:
+      translation_threshold: 0.06
+      rotation_threshold: 0.3
+      motiongen_distance_threshold: 0.05
+      timeout_steps: 2000
+      base_pos_threshold: 0.12
+      base_rot_threshold: 0.5
+      eef_pos_threshold: 0.03
+      eef_rot_threshold: 0.3
+      base_waypoint_max_steps: 20
+      arm_waypoint_max_steps: 8
+      move_strategy_distance_threshold: 0.1
+      debug: false
+      debug_viz: false
+    ParallelGripper:
+      gripper_threshold: 0.0005
+      timeout_steps: 60
+  atomic_skill:
+    StationNav:
+      robot_id: 0
+      show_marker: false
+    NavToPose:
+      robot_id: 0
+      show_marker: false
+    Move:
+      arm_planner: MobileMoveL
+      hand_planner: ParallelGripper
+      obstacle_avoid_paths: []
+      obstacle_ignore_paths: []
+      close_value: 1.0
+      open_value: 0.0
+      hold_steps: 10
+    Grasp:
+      pre_grasp_offset: 0.1
+      retrieval_offset: 0.1
+      mobile: true
+      pre_grasp_planner: MobileMoveL
+      pre_grasp_mode: -1
+      grasp_mode: 4
+      retrieval_mode: 4
+      reactive: false
+      viz_grasp: false
+  auto_collect:
+    max_trajectories: null
+  record:
+    output_dir: /mnt/scratch/sz850_atomic/n010_go2_off_7047/out/record
+    formats:
+    - lerobot_v21
+    - sim_info
+    clear_buffer_on_failure: true
+    lerobot:
+      subsample_every: 2
+  command:
+    StationHammer:
+      robot_id: 0
+      init_limit: 60
+      max_attempt: 2
+      completion_timeout_steps: 300
+      stages:
+        turn_first: true
+        pre_strike_linear: true
+        pre_clear: 0.06
+        lift: 0.08
+env_string: HammerEnv-V0

N010/go2_arm/dr_off/seed_7047/record/stationhammer/000/completed/0.json

@@ -0,0 +1 @@
+{"run_id": "stationhammer/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null}

N010/go2_arm/dr_off/seed_7047/record/stationhammer/000/joint_names.json

@@ -0,0 +1,24 @@
+{
+ "Go2Plus": [
+  "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"
+ ]
+}

N010/go2_arm/dr_off/seed_7047/record/stationhammer/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e3d7db1e255c0187fdefc7db60ae49a45cfbdb7aa0ff4c8f6eb8e3a8dffefd1
+size 2305947

N010/go2_arm/dr_off/seed_7047/record/stationhammer/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head."], "length": 1208, "magicsim/control_steps": 2416, "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 hammer rack. There are a large gray table a, a large gray table b, a medium hammer rack, a small hammer and a small strike block. The hammer is on top of the hammer rack. The strike block is on top of the gray table b. The scene is viewed from front-left, at table height."}

N010/go2_arm/dr_off/seed_7047/record/stationhammer/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
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N010/go2_arm/dr_off/seed_7047/record/stationhammer/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,340 @@
+{
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+     "noun": "Unitree Go2 EDU quadruped with a Piper arm",
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+     "mobile": true,
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+    "time_of_day": null,
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+    "intensity": 1000.0,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the hammer rack. There are a large gray table a, a large gray table b, a medium hammer rack, a small hammer and a small strike block. The hammer is on top of the hammer rack. The strike block is on top of the gray table b. The scene is viewed from front-left, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n[strike block]\n\n                  [hamm[hammer]\n\n\n\n\n\n                        [robot]"
+  },
+  "task": {
+   "task_type": "StationHammer",
+   "instruction": "Go to the tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head.",
+   "template_id": -1,
+   "slots": {
+    "obj": 0.0,
+    "support": null
+   },
+   "generic_instruction": "Stationhammer the object.",
+   "task_id": "N010",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {}
+ },
+ "depth_range": [
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+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N010/go2_arm/dr_off/seed_7047/record/stationhammer/000/lerobot_v21/meta/info.json

@@ -0,0 +1,301 @@
+{
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+                "width",
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+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist": {
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+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
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+                "video.codec": "libsvtav1",
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+                "has_audio": false
+            }
+        }
+    }
+}

N010/go2_arm/dr_off/seed_7047/record/stationhammer/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,290 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 14:24:51"
+    },
+    "embodiment": {
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+                "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"
+                ]
+            }
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+        "fps_int": 50,
+        "sim_dt": 0.005,
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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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+                    "base_action_1",
+                    "base_action_2",
+                    "base_action_3"
+                ],
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+                "end": 11,
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+                    "eef0.pos_y",
+                    "eef0.pos_z",
+                    "eef0.quat_w",
+                    "eef0.quat_x",
+                    "eef0.quat_y",
+                    "eef0.quat_z"
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+                "source": "Go2PlusCuroboIKAction",
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+                "end": 12,
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+                    "joint_3",
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+                    "joint_19",
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+                    "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"
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+                "names_source": "joint_names"
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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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+            "extra.reward",
+            "frame_index",
+            "index",
+            "narration",
+            "next.done",
+            "next.truncated",
+            "observation.eef_pose",
+            "observation.environment_state",
+            "observation.images.head",
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+    "generated_run": {
+        "run_id": "stationhammer/000",
+        "task_type": "StationHammer"
+    }
+}

N010/go2_arm/dr_off/seed_7047/record/stationhammer/000/lerobot_v21/meta/tasks.jsonl

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+{"task_index": 0, "task": "Go to the tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head."}

N010/go2_arm/dr_off/seed_7047/record/stationhammer/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

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N010/go2_arm/dr_off/seed_7047/record/stationhammer/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

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N010/go2_arm/dr_off/seed_7047/record/stationhammer/000/run_meta.json

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+{
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+    "created": "2026-11-08 14:10:23",
+    "num_envs": 1,
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+    "record_config": {
+        "output_dir": "/mnt/scratch/sz850_atomic/n010_go2_off_7047/out/record",
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N010/go2_arm/dr_off/seed_7047/record/stationhammer/000/sim_info/0/actions.npz

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+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
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+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 12,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "Go2Plus.base_action",
+                "start": 0,
+                "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": {
+        "head": {
+            "intrinsics": {
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+    "generated_run": {
+        "run_id": "stationhammer/000",
+        "task_type": "StationHammer"
+    }
+}

N010/go2_arm/dr_off/seed_7047/report.json

@@ -0,0 +1,2821 @@
+{
+ "task": "n010",
+ "robot": "go2_arm",
+ "level": "easy",
+ "dr": "on",
+ "seed": 7047,
+ "steps": 2476,
+ "summary": {
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+  "fail_classes": {},
+  "wall_s": 863.8
+ },
+ "driver_error": null,
+ "review_cameras": [],
+ "policy_obs_signature": [
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+  "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32",
+  "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32",
+  "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32",
+  "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32",
+  "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32",
+  "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32",
+  "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32",
+  "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32",
+  "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32",
+  "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32",
+  "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32",
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+   "contact_sensor_error": null,
+   "force_source": "rigid contact view, block filtered on the hammer (last physics sub-step per control tick); alive only if it reads the block's weight"
+  }
+ ],
+ "collect": {
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+  "robot": "go2_arm",
+  "visual_dr": false,
+  "env": {
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+  "record": {
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+   ],
+   "clear_buffer_on_failure": true,
+   "lerobot": {
+    "subsample_every": 2
+   }
+  }
+ }
+}

N010/go2_arm/dr_off/seed_7047/reports.jsonl

@@ -0,0 +1 @@
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