add 11 staged episodes

N025/go2_arm/dr_off/seed_1034/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 table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "2028 rows vs ceil(4056/2) = 2028"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 31..4085, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "20.12 MB, 2028 frames at 25 fps, mean luma 110..141, std 23, new picture 2027x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "2028 vs 2028"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "29.82 MB, 2028 frames at 25 fps, mean luma 112..172, std 29, new picture 2027x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "2028 vs 2028"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stationassembly/000/sim_info"
+  }
+ }
+}

N025/go2_arm/dr_off/seed_1034/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n025_go2_off_1034/out  task=N025  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n025_go2_off_1034/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 2028  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: 2028 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 table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'
+rows 2028 at dataset fps 25 = 81.12 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2028 rows vs ceil(4056/2) = 2028
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..4085, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 20.12 MB, 2028 frames at 25 fps, mean luma 110..141, std 23, new picture 2027x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 2028 vs 2028
+[PASS] video observation.images.wrist decodes, 640x480, not black: 29.82 MB, 2028 frames at 25 fps, mean luma 112..172, std 29, new picture 2027x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 2028 vs 2028
+parquet size 30.38 MB
+[PASS] sim_info present: stationassembly/000/sim_info
+dataset size 80.56 MB; whole cell dir 82.3 MB
+RESULT: ALL PASS

N025/go2_arm/dr_off/seed_1034/report.json

@@ -0,0 +1,2399 @@
+{
+  "task": "N025",
+  "agent_id": null,
+  "embodiment": "go2_arm",
+  "level": "easy",
+  "scene_seed": 1034,
+  "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)",
+  "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml",
+  "full_success": true,
+  "failure_reason": null,
+  "dr": {
+    "seed": 1034,
+    "wedge": {
+      "dx": -0.07293,
+      "dy": 0.02716,
+      "yaw_deg": 1.71087
+    },
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+      "env.scene.background.intensity": [
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+  },
+  "planner_seeds": {
+    "label": "lean",
+    "num_trajopt_seeds": 1,
+    "num_ik_seeds": 4,
+    "max_attempts": 6
+  },
+  "collect": {
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+    "visual_dr": false,
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+      "MMB_COLLECT": "1",
+      "MMB_TASK_ID": "N025",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "0"
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+    "resolution": [
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+    "record": {
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+        "lerobot_v21",
+        "sim_info"
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+      "clear_buffer_on_failure": true,
+      "lerobot": {
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+      }
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+  },
+  "steps": 4086,
+  "task_id": "N025",
+  "task_version": "EXT60-MobileAvatar-v3",
+  "family_id": "wedge_support",
+  "primary_category": "C4",
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N025/go2_arm/dr_off/seed_1034/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json

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+     "id": "wedge_1",
+     "cat_name": "wedge",
+     "inst_id": 1,
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+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "rigid",
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+    {
+     "subject": "table_A_1",
+     "relation": "in_front_of",
+     "object": "wedge_1"
+    },
+    {
+     "subject": "table_B_1",
+     "relation": "right_of",
+     "object": "shim_board_1"
+    },
+    {
+     "subject": "shim_board_1",
+     "relation": "on_top_of",
+     "object": "table_B_1"
+    },
+    {
+     "subject": "shim_board_1",
+     "relation": "left_of",
+     "object": "table_B_1"
+    },
+    {
+     "subject": "wedge_1",
+     "relation": "on_top_of",
+     "object": "table_A_1"
+    },
+    {
+     "subject": "wedge_1",
+     "relation": "behind",
+     "object": "table_A_1"
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+   ],
+   "cameras": [
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+     "name": "head",
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+       -0.08611861262827436,
+       0.017148138726427706
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+     }
+    }
+   ],
+   "robots": [
+    {
+     "name": "Go2Plus",
+     "model": "go2plus",
+     "type": "mobilemanip",
+     "noun": "Unitree Go2 EDU quadruped with a Piper arm",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
+       -3.47755,
+       -2.47455,
+       0.45
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+      "ori": [
+       0.8549644947052002,
+       0.0,
+       0.0,
+       0.5186865925788879
+      ]
+     },
+     "facing_yaw_deg": 62.488384886964774,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 876.78989,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is in front of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is behind the gray table A. The scene is viewed from front-right, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                   [shim board]\n\n\n[wedge]A]\n\n\n\n\n        [robot]"
+  },
+  "task": {
+   "task_type": "StationAssembly",
+   "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Stationassembly the 1.5707963267948966.",
+   "task_id": "N025",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {
+   "frame_0547": {
+    "frame_idx": 547,
+    "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0575": {
+    "frame_idx": 575,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0973": {
+    "frame_idx": 973,
+    "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "verify",
+    "skill_state": "computing",
+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_1045": {
+    "frame_idx": 1045,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_1081": {
+    "frame_idx": 1081,
+    "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_1090": {
+    "frame_idx": 1090,
+    "caption": "Working on the small wedge; the right gripper is below the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1319": {
+    "frame_idx": 1319,
+    "caption": "Done — the small wedge is grasped; the right gripper is below the wedge.",
+    "skill": "Grasp",
+    "phase": "completed",
+    "skill_state": "finished",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1320": {
+    "frame_idx": 1320,
+    "caption": "Working on the small wedge; the right gripper is below the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1367": {
+    "frame_idx": 1367,
+    "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_1391": {
+    "frame_idx": 1391,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2126": {
+    "frame_idx": 2126,
+    "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2144": {
+    "frame_idx": 2144,
+    "caption": "Working on the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_3593": {
+    "frame_idx": 3593,
+    "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "verify",
+    "skill_state": "computing",
+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_3660": {
+    "frame_idx": 3660,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and behind the wedge.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:pre_insert",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_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
+}

N025/go2_arm/dr_off/seed_1034/stationassembly/000/lerobot_v21/meta/info.json

@@ -0,0 +1,296 @@
+{
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+                "go2_FR_hip_joint",
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+                "go2_FL_thigh_joint",
+                "go2_FR_thigh_joint",
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+                "go2_FL_calf_joint",
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+                "articulation_pose.shim_board.4",
+                "articulation_pose.shim_board.5",
+                "articulation_pose.shim_board.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",
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+                "object_pose.table_B.3",
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+                "object_pose.table_B.6",
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+                "object_pose.wedge.1",
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+                "object_pose.wedge.3",
+                "object_pose.wedge.4",
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+                3
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+                "width",
+                "channels"
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+            "info": {
+                "video.fps": 25,
+                "video.codec": "libsvtav1",
+                "video.pix_fmt": "yuv420p",
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+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
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+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
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+                "video.fps": 25,
+                "video.codec": "libsvtav1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
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+                "video.width": 640,
+                "video.channels": 3,
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+            }
+        }
+    }
+}

N025/go2_arm/dr_off/seed_1034/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,290 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 05:19:34"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "Go2Plus",
+                "cfg": "Go2PlusCfg",
+                "type": "mobilemanip",
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+                    "go2_FL_hip_joint",
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+        "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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+}

N025/go2_arm/dr_off/seed_1034/stationassembly/000/lerobot_v21/meta/tasks.jsonl

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N025/go2_arm/dr_off/seed_1034/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

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N025/go2_arm/dr_off/seed_1034/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

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N025/go2_arm/dr_off/seed_1034/stationassembly/000/sim_info/0/actions.npz

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+}

N025/go2_arm/dr_off/seed_1034/stationassembly/000/sim_info/0/sim_states.npz

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+oid sha256:492138af95c0ada61b194c81f16fae228d1605058e0505a8fdf3d1a9f6a90a3a
+size 929088

N025/go2_arm/dr_off/seed_1034/stationassembly/000/sim_info/magicsim_manifest.json

@@ -0,0 +1,259 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 05:19:59"
+    },
+    "embodiment": {
+        "robots": [
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+                "name": "Go2Plus",
+                "cfg": "Go2PlusCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
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+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
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+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
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+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
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+    "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": [
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+                    "joint_18",
+                    "joint_19",
+                    "joint_20",
+                    "joint_21",
+                    "joint_22",
+                    "joint_23"
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+                "end": 26,
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+                    "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",
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+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
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+        "task_type": "StationAssembly"
+    }
+}

N025/go2_arm/dr_on/seed_2028/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 table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1674 rows vs ceil(3347/2) = 1674"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 31..3377, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "22.50 MB, 1674 frames at 25 fps, mean luma 88..134, std 27, new picture 1673x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1674 vs 1674"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "45.99 MB, 1674 frames at 25 fps, mean luma 98..167, std 33, new picture 1673x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1674 vs 1674"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stationassembly/000/sim_info"
+  }
+ }
+}

N025/go2_arm/dr_on/seed_2028/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n025_go2_on_2028/out  task=N025  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n025_go2_on_2028/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1674  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: 1674 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 table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'
+rows 1674 at dataset fps 25 = 66.96 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1674 rows vs ceil(3347/2) = 1674
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..3377, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 22.50 MB, 1674 frames at 25 fps, mean luma 88..134, std 27, new picture 1673x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1674 vs 1674
+[PASS] video observation.images.wrist decodes, 640x480, not black: 45.99 MB, 1674 frames at 25 fps, mean luma 98..167, std 33, new picture 1673x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1674 vs 1674
+parquet size 19.13 MB
+[PASS] sim_info present: stationassembly/000/sim_info
+dataset size 87.87 MB; whole cell dir 89.4 MB
+RESULT: ALL PASS

N025/go2_arm/dr_on/seed_2028/report.json

@@ -0,0 +1,2089 @@
+{
+  "task": "N025",
+  "agent_id": null,
+  "embodiment": "go2_arm",
+  "level": "easy",
+  "scene_seed": 2028,
+  "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)",
+  "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml",
+  "full_success": true,
+  "failure_reason": null,
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+      "dy": 0.03271,
+      "yaw_deg": 3.25875
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+  "task_id": "N025",
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N025/go2_arm/dr_on/seed_2028/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,581 @@
+{
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+ "trajectory_id": 0,
+ "env_id": 0,
+ "task_type": "StationAssembly",
+ "subsample_every": 2,
+ "control_steps": 3347,
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+     "inst_id": 1,
+     "noun": "table B",
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+     "size": "small",
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+     "relation": "right_of",
+     "object": "shim_board_1"
+    },
+    {
+     "subject": "shim_board_1",
+     "relation": "on_top_of",
+     "object": "table_B_1"
+    },
+    {
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+     "relation": "left_of",
+     "object": "table_B_1"
+    },
+    {
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+     "relation": "on_top_of",
+     "object": "table_A_1"
+    },
+    {
+     "subject": "wedge_1",
+     "relation": "behind",
+     "object": "table_A_1"
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+   "robots": [
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+     "name": "Go2Plus",
+     "model": "go2plus",
+     "type": "mobilemanip",
+     "noun": "Unitree Go2 EDU quadruped with a Piper arm",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
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+       -2.5719,
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+      "ori": [
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+       0.0,
+       0.0,
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+     "facing_yaw_deg": 66.48972611504959,
+     "gripper": "parallel gripper"
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+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1198.75976,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is in front of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is behind the gray table A. The scene is viewed from front-right, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                   [shim board]\n\n\n[wedge]A]\n\n\n\n\n  [robot]"
+  },
+  "task": {
+   "task_type": "StationAssembly",
+   "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Stationassembly the 1.5707963267948966.",
+   "task_id": "N025",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {
+   "frame_0571": {
+    "frame_idx": 571,
+    "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0606": {
+    "frame_idx": 606,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0895": {
+    "frame_idx": 895,
+    "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "verify",
+    "skill_state": "computing",
+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0963": {
+    "frame_idx": 963,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
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+   },
+   "frame_0995": {
+    "frame_idx": 995,
+    "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
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+   },
+   "frame_1008": {
+    "frame_idx": 1008,
+    "caption": "Working on the small wedge; the right gripper is below the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1339": {
+    "frame_idx": 1339,
+    "caption": "Done — the small wedge is grasped; the right gripper is below the wedge.",
+    "skill": "Grasp",
+    "phase": "completed",
+    "skill_state": "finished",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
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+   },
+   "frame_1340": {
+    "frame_idx": 1340,
+    "caption": "Working on the small wedge; the right gripper is below the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
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+    "frame_idx": 1389,
+    "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
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+     "in_front_of"
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+   "frame_1390": {
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+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
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+    "eef_relation": [
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+     "left_of",
+     "in_front_of"
+    ]
+   },
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+    "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
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+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
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+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2140": {
+    "frame_idx": 2140,
+    "caption": "Working on the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
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+   },
+   "frame_2698": {
+    "frame_idx": 2698,
+    "caption": "Working on the medium shim board; the right gripper is below and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "shim_board_1",
+    "hand_id": 0,
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+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_2744": {
+    "frame_idx": 2744,
+    "caption": "Working on the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2876": {
+    "frame_idx": 2876,
+    "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "verify",
+    "skill_state": "computing",
+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "shim_board_1",
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+     "below",
+     "left_of",
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+    ]
+   },
+   "frame_2944": {
+    "frame_idx": 2944,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and behind the wedge.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:pre_insert",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
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+    "eef_relation": [
+     "below",
+     "left_of",
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+ },
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+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N025/go2_arm/dr_on/seed_2028/stationassembly/000/lerobot_v21/meta/info.json

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+{
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+                "eef0.quat_x",
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+                "articulation_pose.shim_board.4",
+                "articulation_pose.shim_board.5",
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+}

N025/go2_arm/dr_on/seed_2028/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,290 @@
+{
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+    },
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+}

N025/go2_arm/dr_on/seed_2028/stationassembly/000/lerobot_v21/meta/tasks.jsonl

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N025/go2_arm/dr_on/seed_2028/stationassembly/000/run_meta.json

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N025/go2_arm/dr_on/seed_2028/stationassembly/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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+    "generated": {
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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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+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RR_calf/go2_RR_calf_geometry/visual_0",
+      "rigid_body"
+     ]
+    ]
+   },
+   "material_library": {
+    "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/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
+    }
+   ]
+  }
+ ]
+}

N025/sawyer_umi/dr_on/seed_2026/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 wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1355 rows vs ceil(2710/2) = 1355"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 31..2739, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "21.24 MB, 1355 frames at 25 fps, mean luma 72..117, std 49, new picture 1354x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1355 vs 1355"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "22.28 MB, 1355 frames at 25 fps, mean luma 88..151, std 41, new picture 1354x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1355 vs 1355"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stationassembly/000/sim_info"
+  }
+ }
+}

N025/sawyer_umi/dr_on/seed_2026/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n025_saw_on_2026_r1/out  task=N025  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n025_saw_on_2026_r1/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1355  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: 1355 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 wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'
+rows 1355 at dataset fps 25 = 54.20 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1355 rows vs ceil(2710/2) = 1355
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..2739, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 21.24 MB, 1355 frames at 25 fps, mean luma 72..117, std 49, new picture 1354x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1355 vs 1355
+[PASS] video observation.images.wrist decodes, 640x480, not black: 22.28 MB, 1355 frames at 25 fps, mean luma 88..151, std 41, new picture 1354x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1355 vs 1355
+parquet size 2.03 MB
+[PASS] sim_info present: stationassembly/000/sim_info
+dataset size 45.71 MB; whole cell dir 46.6 MB
+RESULT: ALL PASS

N025/sawyer_umi/dr_on/seed_2026/report.json

@@ -0,0 +1,1765 @@
+{
+  "task": "N025",
+  "agent_id": null,
+  "embodiment": "sawyer_umi",
+  "level": "easy",
+  "scene_seed": 2026,
+  "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)",
+  "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml",
+  "full_success": true,
+  "failure_reason": null,
+  "dr": {
+    "seed": 2026,
+    "wedge": {
+      "dx": -0.02873,
+      "dy": 0.00502,
+      "yaw_deg": 1.80988
+    },
+    "shim_board": {
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+      "dy": -0.04078,
+      "yaw_deg": -0.75622
+    },
+    "wedge_mass": 0.0308,
+    "light": 815.85432,
+    "spawn": {
+      "dx": 0.01111,
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+      "yaw_deg": 5.10163
+    },
+    "overrides": {
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+      ],
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+        1.19157,
+        3.10922,
+        0.43
+      ],
+      "env.scene.objects.shim_board.common.ori": [
+        0.0,
+        0.0,
+        -90.75622
+      ],
+      "env.scene.objects.wedge.wedge_1.physics.mass": 0.0308,
+      "env.scene.background.intensity": [
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+        815.85432
+      ],
+      "env.robot.RidgebackSawyerUmi.common.pos": [
+        [
+          -3.58889,
+          -2.51006,
+          0.06
+        ],
+        [
+          -3.58889,
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+        ]
+      ],
+      "env.robot.RidgebackSawyerUmi.common.ori": [
+        [
+          0,
+          0,
+          65.10163
+        ],
+        [
+          0,
+          0,
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+      ]
+    }
+  },
+  "planner_seeds": {
+    "label": "default",
+    "num_trajopt_seeds": null,
+    "num_ik_seeds": null,
+    "max_attempts": 6
+  },
+  "collect": {
+    "task": "N025",
+    "robot": "sawyer_umi",
+    "visual_dr": true,
+    "env": {
+      "MMB_COLLECT": "1",
+      "MMB_TASK_ID": "N025",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "1"
+    },
+    "cameras": {
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+      },
+      "wrist": {
+        "link": "Robot_0/right_electric_gripper_base",
+        "pos": [
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+        "horizontal_aperture": 3.6,
+        "vertical_aperture": 2.7
+      }
+    },
+    "resolution": [
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+      480
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+    "camera_hz": 25,
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+        "lerobot_v21",
+        "sim_info"
+      ],
+      "clear_buffer_on_failure": true,
+      "lerobot": {
+        "subsample_every": 2
+      }
+    }
+  },
+  "steps": 2740,
+  "task_id": "N025",
+  "task_version": "EXT60-MobileAvatar-v3",
+  "family_id": "wedge_support",
+  "primary_category": "C4",
+  "env_terminated": true,
+  "env_truncated": false,
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+  "elapsed_s": 923.8
+}

N025/sawyer_umi/dr_on/seed_2026/stationassembly/000/completed/0.json

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N025/sawyer_umi/dr_on/seed_2026/stationassembly/000/lerobot_v21/meta/episodes.jsonl

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N025/sawyer_umi/dr_on/seed_2026/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl

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