add N010/stretch3/dr_on/seed_2064

N010/stretch3/dr_on/seed_2064/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', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']"
+  },
+  "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', 'arm_action_0', 'arm_action_1', 'arm_action_2']"
+  },
+  "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": "2914 rows vs ceil(5827/2) = 2914"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 61..5887, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "101.69 MB, 2914 frames at 25 fps, mean luma 56..111, std 23, new picture 2913x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "2914 vs 2914"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "88.83 MB, 2914 frames at 25 fps, mean luma 62..145, std 34, new picture 2913x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "2914 vs 2914"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "record/stationhammer/000/sim_info"
+  }
+ }
+}

N010/stretch3/dr_on/seed_2064/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/sz850_atomic/n010_str_on_2064/out  task=N010  at verify_collect_dataset.py
+dataset root /mnt/scratch/sz850_atomic/n010_str_on_2064/out/record/stationhammer/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 2914  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: 2914 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 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 2914 at dataset fps 25 = 116.56 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2914 rows vs ceil(5827/2) = 2914
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5887, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 101.69 MB, 2914 frames at 25 fps, mean luma 56..111, std 23, new picture 2913x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 2914 vs 2914
+[PASS] video observation.images.wrist decodes, 640x480, not black: 88.83 MB, 2914 frames at 25 fps, mean luma 62..145, std 34, new picture 2913x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 2914 vs 2914
+parquet size 4.33 MB
+[PASS] sim_info present: record/stationhammer/000/sim_info
+dataset size 195.08 MB; whole cell dir 197.3 MB
+RESULT: ALL PASS

N010/stretch3/dr_on/seed_2064/config.yaml

@@ -0,0 +1,538 @@
+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: 2064
+  robot:
+    HelloRobot:
+      name: hellorobot
+      type: mobilemanip
+      common:
+        pos:
+        - - -3.5
+          - -2.3
+          - 0.06
+        - - -2.9000000000000004
+          - -1.7
+          - 0.06
+        ori:
+        - - 0.0
+          - 0.0
+          - -20.0
+        - - 0.0
+          - 0.0
+          - 20.0
+        initial_joint_pos:
+          joint_lift: 0.55
+          joint_arm_l[0-3]: 0.0
+          joint_wrist_yaw: 1.5707963267948966
+      action:
+        base_action: differential_virtual
+        arm_action: ik_abs
+        eef_action: binary
+      planner:
+        dual_mode: true
+        base_joint_names:
+        - dummy_base_prismatic_x_joint
+        - dummy_base_prismatic_y_joint
+        - dummy_base_revolute_z_joint
+        ik:
+          type: hellorobot
+          enable: true
+          ik_num_instances: 1
+          ik_batch_size: 1
+          ik_num_seeds: 32
+          ik_max_goalset: 64
+          ik_position_threshold: 0.005
+          ik_rotation_threshold: 0.05
+          microbatch_wait_ms: 1.0
+          seed_use_live_joint_pos: true
+        motiongen:
+          type: hellorobot
+          enable: true
+          motiongen_num_instances: 1
+          batch_size: 1
+          microbatch_wait_ms: 1.0
+          seed_use_live_joint_pos: true
+          mode: position
+          start_state_limit_inset: 0.002
+          num_trajopt_seeds: 1
+          num_ik_seeds: 4
+        body:
+          type: nav
+          dwb_type: dwb_differential
+          p_controller:
+            kp_angular_turning_only: 2.0
+            kd_angular_turning_only: 0.2
+            kp_linear_x: 2.0
+            kp_linear_y: 2.0
+            kp_angular: 2.0
+            kd_linear_x: 0.1
+            kd_linear_y: 0.1
+            min_vel: -0.25
+            max_vel: 0.35
+            linear_dead_zone: 0.003
+            angular_dead_zone: 0.03
+            nav_heading_target: 1
+            velocity_frame: world
+          dwb_differential:
+            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: 0.3
+            w_goal: 6.0
+            w_path: 8.0
+            w_vel: 0.2
+            w_vy: 0.0
+            goal_cost_mode: path
+            dilate_radius: 0.25
+            room_size: 12.0
+            occupancy_update_interval: 25
+            scan_height: 0.45
+            scan_min_z: 0.22
+            scan_max_z: 1.75
+            goal_pos_threshold: 0.02
+            goal_yaw_threshold: 0.01
+            kp_goal_yaw: 1.5
+            min_speed: -0.3
+            max_speed: 0.3
+            w_heading: 0.5
+            min_yaw_rate: -0.35
+            max_yaw_rate: 0.35
+            safety_enabled: true
+            safety_deceleration: 0.5
+            safety_reaction_time: 0.5
+            goal_heading_fade_distance: 0.5
+            scan_type: 3d
+        arm:
+          type: default
+        eef:
+          type: default
+      physics:
+        wheel_base: 0.33
+        robot_radius: 0.65
+      reset: default
+  camera:
+    enable_tiled: false
+    colorize_depth: false
+    head:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 2.73834228515625
+        horizontal_aperture: 2.1600000858306885
+        vertical_aperture: 1.62
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/base_link
+        pos:
+        - 0.049771
+        - -0.002942
+        - 1.295723
+        ori:
+        - 0.0002
+        - -55.623
+        - -90.0
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+    wrist:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.280753493309021
+        horizontal_aperture: 1.9199999570846558
+        vertical_aperture: 1.44
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/link_gripper_s3_body
+        pos:
+        - 0.009
+        - 0.062939
+        - 0.056398
+        ori:
+        - -170.0021
+        - 0.0
+        - -179.9998
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+  nav:
+    navmesh:
+      enabled: true
+      visualize: false
+      bake_timeout_s: 180
+      agent_height_cm: 170
+      min_agent_radius_cm: 28.0
+      max_agent_radius_cm: 28.0
+      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
+  station:
+    level: easy
+    agent_id: a02
+    embodiment: stretch3
+    task_version: EXT60-MobileAvatar-v3
+    execution_mode: expert_collect
+    layout:
+      table_h: 0.5
+      standoff: 0.34
+      standoff_b: 0.36
+      lateral_a: 0.0193
+    settle_ticks: 40
+    hold_ticks: 5
+    judge_timeout_ticks: 300
+    default_avoid: []
+    report_jsonl: /mnt/scratch/sz850_atomic/n010_str_on_2064/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: 0.03
+      rotation_threshold: 0.02
+      num_path_segments: 30
+      start_forward_offset: 0.0
+      visualize_path: false
+      carry_arm: true
+    MobileMoveL:
+      translation_threshold: 0.006
+      rotation_threshold: 0.1
+      motiongen_distance_threshold: 0.0
+      timeout_steps: 1500
+      reactive: false
+      base_pos_threshold: 0.025
+      base_rot_threshold: 0.05
+      eef_pos_threshold: 0.02
+      eef_rot_threshold: 0.25
+      waypoint_max_steps: 60
+      interp_steps: 100
+      debug: false
+      debug_viz: false
+    RetractMoveL:
+      translation_threshold: 0.02
+      rotation_threshold: 0.2
+      motiongen_distance_threshold: 0.05
+      timeout_steps: 1800
+      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: 100
+  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: 25
+      ramp_steps: 0
+    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_str_on_2064/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: false
+        pre_strike_linear: false
+        pinch_above_centre: 0.006
+        strike_wrist_solve: true
+env_string: HammerEnv-V0

N010/stretch3/dr_on/seed_2064/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/stretch3/dr_on/seed_2064/record/stationhammer/000/joint_names.json

@@ -0,0 +1,19 @@
+{
+ "HelloRobot": [
+  "dummy_base_prismatic_x_joint",
+  "dummy_base_prismatic_y_joint",
+  "dummy_base_revolute_z_joint",
+  "joint_lift",
+  "joint_head_pan",
+  "joint_head_tilt",
+  "joint_arm_l3",
+  "joint_arm_l2",
+  "joint_arm_l1",
+  "joint_arm_l0",
+  "joint_wrist_yaw",
+  "joint_wrist_pitch",
+  "joint_wrist_roll",
+  "joint_gripper_finger_left",
+  "joint_gripper_finger_right"
+ ]
+}

N010/stretch3/dr_on/seed_2064/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:fbef68a622c96f36f3aa54f9b4c282faf5924acfe600da86bb2037b18e075781
+size 4331663

N010/stretch3/dr_on/seed_2064/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": 2914, "magicsim/control_steps": 5827, "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 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, slightly above table height."}

N010/stretch3/dr_on/seed_2064/record/stationhammer/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
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N010/stretch3/dr_on/seed_2064/record/stationhammer/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,340 @@
+{
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+     "model": "hellorobot",
+     "type": "mobilemanip",
+     "noun": "Hello Robot Stretch 3 mobile manipulator",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
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+       -1.92980603554415,
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+       -0.1347465068101883
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+     "facing_yaw_deg": -15.487924156952115,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1000.0,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "A Hello Robot Stretch 3 mobile manipulator 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, slightly above table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n[strike block]    [hamm[hammer]\n\n\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": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Stationhammer the 1.5707963267948966.",
+   "task_id": "N010",
+   "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
+}

N010/stretch3/dr_on/seed_2064/record/stationhammer/000/lerobot_v21/meta/info.json

@@ -0,0 +1,284 @@
+{
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+    "robot_type": "HelloRobotCfg",
+    "total_episodes": 1,
+    "total_frames": 2914,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:1"
+    },
+    "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",
+            "shape": [
+                11
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "arm_action_0",
+                "arm_action_1",
+                "arm_action_2",
+                "arm_action_3",
+                "arm_action_4",
+                "arm_action_5",
+                "arm_action_6",
+                "gripper"
+            ]
+        },
+        "action_is_hold": {
+            "dtype": "bool",
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+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "joint_lift",
+                "joint_head_pan",
+                "joint_head_tilt",
+                "joint_arm_l3",
+                "joint_arm_l2",
+                "joint_arm_l1",
+                "joint_arm_l0",
+                "joint_wrist_yaw",
+                "joint_wrist_pitch",
+                "joint_wrist_roll",
+                "joint_gripper_finger_left",
+                "joint_gripper_finger_right"
+            ]
+        },
+        "observation.joint_vel": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "joint_lift",
+                "joint_head_pan",
+                "joint_head_tilt",
+                "joint_arm_l3",
+                "joint_arm_l2",
+                "joint_arm_l1",
+                "joint_arm_l0",
+                "joint_wrist_yaw",
+                "joint_wrist_pitch",
+                "joint_wrist_roll",
+                "joint_gripper_finger_left",
+                "joint_gripper_finger_right"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
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+            "names": null
+        },
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+            "dtype": "float32",
+            "shape": [
+                35
+            ],
+            "names": [
+                "object_pose.hammer.0",
+                "object_pose.hammer.1",
+                "object_pose.hammer.2",
+                "object_pose.hammer.3",
+                "object_pose.hammer.4",
+                "object_pose.hammer.5",
+                "object_pose.hammer.6",
+                "object_pose.hammer_rack.0",
+                "object_pose.hammer_rack.1",
+                "object_pose.hammer_rack.2",
+                "object_pose.hammer_rack.3",
+                "object_pose.hammer_rack.4",
+                "object_pose.hammer_rack.5",
+                "object_pose.hammer_rack.6",
+                "object_pose.strike_block.0",
+                "object_pose.strike_block.1",
+                "object_pose.strike_block.2",
+                "object_pose.strike_block.3",
+                "object_pose.strike_block.4",
+                "object_pose.strike_block.5",
+                "object_pose.strike_block.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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+            "dtype": "float32",
+            "shape": [
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+            "names": null
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+            "dtype": "float32",
+            "shape": [
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+        },
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+            "dtype": "string",
+            "shape": [
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+            "names": null
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+        "collect_info": {
+            "dtype": "string",
+            "shape": [
+                1
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+            "names": null
+        },
+        "extra.reward": {
+            "dtype": "float32",
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+                1
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+            "names": null
+        },
+        "sim_step_idx": {
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+            "shape": [
+                1
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+            "names": null
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+                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",
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+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
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+            }
+        }
+    }
+}

N010/stretch3/dr_on/seed_2064/record/stationhammer/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,259 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 02:28:44"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "HelloRobot",
+                "cfg": "HelloRobotCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ]
+            }
+        ]
+    },
+    "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": "HelloRobot.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HelloRobotBaseAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "HelloRobot.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "arm_action_0",
+                    "arm_action_1",
+                    "arm_action_2",
+                    "arm_action_3",
+                    "arm_action_4",
+                    "arm_action_5",
+                    "arm_action_6"
+                ],
+                "source": "HelloRobotIKAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "HelloRobot.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
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+                "end": 15,
+                "names": [
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+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
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+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 15,
+        "segments": [
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+                "name": "HelloRobot.joint_vel",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
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+    "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": {
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+            "observation.images.head",
+            "observation.images.wrist"
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+        "columns": [
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+            "extra.reward",
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+            "index",
+            "narration",
+            "next.done",
+            "next.truncated",
+            "observation.eef_pose",
+            "observation.environment_state",
+            "observation.images.head",
+            "observation.images.wrist",
+            "observation.joint_vel",
+            "observation.state",
+            "sim_step_idx",
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+            "timestamp"
+        ]
+    },
+    "generated_run": {
+        "run_id": "stationhammer/000",
+        "task_type": "StationHammer"
+    }
+}

N010/stretch3/dr_on/seed_2064/record/stationhammer/000/lerobot_v21/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"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/stretch3/dr_on/seed_2064/record/stationhammer/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

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+size 101687190

N010/stretch3/dr_on/seed_2064/record/stationhammer/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

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+size 88829586

N010/stretch3/dr_on/seed_2064/record/stationhammer/000/run_meta.json

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+{
+    "run_id": "stationhammer/000",
+    "created": "2026-11-08 01:59:17",
+    "num_envs": 1,
+    "session_id": null,
+    "record_config": {
+        "output_dir": "/mnt/scratch/sz850_atomic/n010_str_on_2064/out/record",
+        "formats": [
+            "lerobot_v21",
+            "sim_info"
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+        "clear_buffer_on_failure": true,
+        "lerobot": {
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+    "config": {
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+                "use_fabric": false,
+                "decimation": 4,
+                "dt": 0.005,
+                "soft_resets": 2,
+                "scene": {
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+                    "enable_global_illumination": false,
+                    "enable_translucency": false,
+                    "enable_dl_denoiser": false
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+                "contact_reports": true,
+                "physx": {
+                    "gpu_dynamics": false
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+                "seed": 2064
+            },
+            "robot": {
+                "HelloRobot": {
+                    "name": "hellorobot",
+                    "type": "mobilemanip",
+                    "common": {
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+                        "arm_action": "ik_abs",
+                        "eef_action": "binary"
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+                    "planner": {
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+                        "base_joint_names": [
+                            "dummy_base_prismatic_x_joint",
+                            "dummy_base_prismatic_y_joint",
+                            "dummy_base_revolute_z_joint"
+                        ],
+                        "ik": {
+                            "type": "hellorobot",
+                            "enable": true,
+                            "ik_num_instances": 1,
+                            "ik_batch_size": 1,
+                            "ik_num_seeds": 32,
+                            "ik_max_goalset": 64,
+                            "ik_position_threshold": 0.005,
+                            "ik_rotation_threshold": 0.05,
+                            "microbatch_wait_ms": 1.0,
+                            "seed_use_live_joint_pos": true
+                        },
+                        "motiongen": {
+                            "type": "hellorobot",
+                            "enable": true,
+                            "motiongen_num_instances": 1,
+                            "batch_size": 1,
+                            "microbatch_wait_ms": 1.0,
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+                            "mode": "position",
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+                            "num_trajopt_seeds": 1,
+                            "num_ik_seeds": 4
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+                        "body": {
+                            "type": "nav",
+                            "dwb_type": "dwb_differential",
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+                                "kp_linear_y": 2.0,
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+                                "kd_linear_x": 0.1,
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+                                "velocity_frame": "world"
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+                                "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,
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+                        "robot_radius": 0.65
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+                        "resolution": [
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+                        "clipping_range": [
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+                        "mode": "RGB",
+                        "mount_link": "Robot_0/base_link",
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+                            "device": "cpu"
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+                        "clipping_range": [
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+                        "mode": "RGB",
+                        "mount_link": "Robot_0/link_gripper_s3_body",
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N010/stretch3/dr_on/seed_2064/record/stationhammer/000/sim_info/0/sim_states.npz

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N010/stretch3/dr_on/seed_2064/record/stationhammer/000/sim_info/magicsim_manifest.json

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+    "generated": {
+        "time": "2026-11-08 02:29:35"
+    },
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+                "name": "HelloRobot",
+                "cfg": "HelloRobotCfg",
+                "type": "mobilemanip",
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+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_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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+                    "dummy_base_prismatic_y_joint",
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+                "end": 10,
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+                    "arm_action_3",
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+        "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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+        "task_type": "StationHammer"
+    }
+}

N010/stretch3/dr_on/seed_2064/record/stationhammer/000/visual_dr.json

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+}

N010/stretch3/dr_on/seed_2064/report.json

@@ -0,0 +1,4891 @@
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+   "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"
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+ "collect": {
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+  "robot": "stretch3",
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+  "env": {
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+   "MMB_TASK_ID": "N010",
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+  "record": {
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+   "clear_buffer_on_failure": true,
+   "lerobot": {
+    "subsample_every": 2
+   }
+  }
+ }
+}

N010/stretch3/dr_on/seed_2064/reports.jsonl

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1.998977541923523, 0.5300000905990601, 1.0, 3.9873842894166955e-08, -5.467458095154143e-07, 9.623446203477215e-06], "strike": {"tick": 5755, "evidence": "sensor", "force_n": 1.8999794180733294, "reaction_slip_m": 0.00026160811347231426, "stall_ticks": 0, "goal_deficit_m": 0.0, "impact_speed_mps": 0.07057048451474257, "lateral_m": 0.00018201354758294247, "face_gap_m": 0.0002524811854967002, "face_tilt_deg": 0.7987298925779232, "face_sign": -1}, "block_reaction": {"observed": true, "ref_tick": 1697, "ticks": 32, "max_displacement_m": 5.623090941939713e-07, "min_dz_m": -2.980232238769531e-07, "max_speed_mps": 2.9950963321688443e-05, "moved_1mm": false}, "head_left_tick": 5843, "contact_evidence": "sensor", "force_data": "reliable", "peak_force_n": 8.248282810472697, "impulse_ns": 0.5204171068669369, "contact_episodes": 1, "max_reaction_slip_m": 0.005813962405249946, "max_stall_ticks_on_plane": 1, "max_goal_deficit_on_plane_m": 0.0795888028673679, "impact_speed_mps": 0.07057048451474257, "face_on_plane_first_tick": 5752, "robot_min_gap_m": 0.0383820841692209, "contact_view": null, "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"}