add N058/stretch3/dr_on/seed_4029

N058/stretch3/dr_on/seed_4029/data/config_resolved.yaml

@@ -0,0 +1,942 @@
+env:
+  sim:
+    device: cpu
+    use_fabric: false
+    decimation: 4
+    dt: 0.005
+    soft_resets: 2
+    scene:
+      num_envs: 1
+      env_spacing: 14
+    render:
+      rendering_mode: performance
+      enable_reflections: false
+      enable_global_illumination: false
+      enable_translucency: false
+      enable_dl_denoiser: false
+    seed: 4029
+  robot:
+    HelloRobot:
+      name: hellorobot
+      type: mobilemanip
+      common:
+        pos:
+        - - -3.1
+          - -2.1
+          - 0.06
+        - - -2.9
+          - -1.9
+          - 0.06
+        ori:
+        - - 0.0
+          - 0.0
+          - 19.999999999999996
+        - - 0.0
+          - 0.0
+          - 40.0
+        initial_joint_pos:
+          dummy_base_.*: 0.0
+          joint_lift: 0.5
+          joint_arm_l[0-3]: 0.0
+          joint_wrist_yaw: 1.5707963267948966
+          joint_wrist_pitch: 0.0
+          joint_wrist_roll: 0.0
+          joint_head_.*: 0.0
+          joint_gripper_finger_.*: 0.0
+      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: 20.0
+          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
+          num_trajopt_seeds: 1
+          num_ik_seeds: 4
+        body:
+          type: nav
+          dwb_type: dwb_differential
+          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: 1.5
+            w_goal: 6.0
+            w_path: 8.0
+            w_vel: 0.2
+            w_vy: 0.0
+            goal_cost_mode: path
+            dilate_radius: 0.3
+            room_size: 12.0
+            occupancy_update_interval: 25
+            scan_height: 0.35
+            scan_min_z: 0.12
+            scan_max_z: 1.65
+            goal_pos_threshold: 0.1
+            goal_yaw_threshold: 0.08
+            kp_goal_yaw: 1.5
+            min_speed: -0.3
+            max_speed: 0.3
+            w_heading: 0.25
+            min_yaw_rate: -0.8
+            max_yaw_rate: 0.8
+            safety_enabled: true
+            safety_deceleration: 0.5
+            safety_reaction_time: 0.5
+            goal_heading_fade_distance: 0.5
+            scan_type: 3d
+          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
+        arm:
+          type: default
+        eef:
+          type: default
+      physics:
+        robot_radius: 0.4
+        wheel_base: 0.33
+      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: 150
+      min_agent_radius_cm: 36.0
+      max_agent_radius_cm: 36.0
+      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
+      validate_path_reroute: true
+    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:
+      - 1500
+      - 1500
+    objects:
+      table_a:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - -1.5
+          - 2.4
+          - 0.18
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 1.0
+          - 0.6
+          - 0.3
+        table_a_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          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:
+          - 1.9
+          - 2.4
+          - 0.18
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 1.0
+          - 0.6
+          - 0.3
+        table_b_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          visual:
+            color:
+            - 0.55
+            - 0.42
+            - 0.3
+          physics:
+            type: geometry
+            collision: true
+      partition:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 0.2
+          - 2.55
+          - 0.78
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.08
+          - 2.3
+          - 1.5
+        partition_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          visual:
+            color:
+            - 0.8
+            - 0.8
+            - 0.84
+          physics:
+            type: geometry
+            collision: true
+      pad_L:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - -1.66
+          - 2.24
+          - 0.33999999999999997
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.1
+          - 0.1
+          - 0.02
+        pad_L_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          visual:
+            color:
+            - 0.42
+            - 0.44
+            - 0.5
+          physics:
+            type: geometry
+            collision: true
+      lit_L:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - -1.66
+          - 2.24
+          - 0.352
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.10400000000000001
+          - 0.10400000000000001
+          - 0.004
+        lit_L_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          visual:
+            color:
+            - 1.0
+            - 0.85
+            - 0.15
+          physics:
+            type: geometry
+            collision: false
+      pad_R:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - -1.34
+          - 2.24
+          - 0.33999999999999997
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.1
+          - 0.1
+          - 0.02
+        pad_R_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          visual:
+            color:
+            - 0.42
+            - 0.44
+            - 0.5
+          physics:
+            type: geometry
+            collision: true
+      lit_R:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - -1.34
+          - 2.24
+          - 0.352
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.10400000000000001
+          - 0.10400000000000001
+          - 0.004
+        lit_R_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          visual:
+            color:
+            - 1.0
+            - 0.85
+            - 0.15
+          physics:
+            type: geometry
+            collision: false
+      rack_b_post0:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 1.815
+          - 2.22
+          - 0.355
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.03
+          - 0.05
+          - 0.05
+        rack_b_post0_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          visual:
+            color:
+            - 0.35
+            - 0.35
+            - 0.38
+          physics:
+            type: geometry
+            collision: true
+      rack_b_post1:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 1.95
+          - 2.22
+          - 0.355
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.03
+          - 0.05
+          - 0.05
+        rack_b_post1_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          visual:
+            color:
+            - 0.35
+            - 0.35
+            - 0.38
+          physics:
+            type: geometry
+            collision: true
+      tapper:
+        usd:
+        - $MAGICSIM_ASSETS/StationMemory/sm_tapper
+        random: false
+        num_per_env: 1
+        common:
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+          pos:
+          - - 1.9
+            - 2.22
+            - 0.39649999999999996
+          - - 1.9
+            - 2.22
+            - 0.39649999999999996
+          ori:
+          - - 0.0
+            - 0.0
+            - 0.0
+          - - 0.0
+            - 0.0
+            - 0.0
+        tapper_1:
+          physics:
+            type: rigid
+            collision: true
+            mass: 0.12
+            physics_material:
+              static_friction: 1.5
+              dynamic_friction: 1.5
+              restitution: 0.0
+  anim:
+    avatar:
+      graph: magic
+      Person:
+        usd:
+        - $MAGICSIM_ASSETS/Avatar/Medical/F_Medical_01/F_Medical_01.usd
+        num_per_env: 1
+        random: false
+        common:
+          pos:
+          - -1.5
+          - 3.35
+          - 0.03
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          body_collision:
+            representation: bone_rigid
+            friction: 1.0
+            restitution: 0.15
+collect:
+  global_planner:
+    NavTo:
+      use_navmesh: true
+      use_absolute: true
+      translation_threshold: 0.12
+      rotation_threshold: 0.1
+      num_path_segments: 30
+      start_forward_offset: 0.0
+      visualize_path: false
+      carry_arm: true
+    MobileMoveL:
+      translation_threshold: 0.045
+      rotation_threshold: 0.05
+      motiongen_distance_threshold: 0.0
+      timeout_steps: 600
+      debug: false
+      debug_viz: false
+      debug_sphere: false
+      reactive: false
+      base_pos_threshold: 0.025
+      base_rot_threshold: 0.05
+      eef_pos_threshold: 0.045
+      eef_rot_threshold: 0.1
+      waypoint_max_steps: 30
+      retry_mobile_on_locked_plan_failure: true
+    ParallelGripper:
+      gripper_threshold: 0.0005
+      timeout_steps: 60
+    MobileServoL:
+      base_pos_threshold: 0.12
+      waypoint_max_steps: 20
+      translation_threshold: 0.05
+      timeout_steps: 600
+      debug: false
+      debug_viz: false
+  atomic_skill:
+    NavToPose:
+      robot_id: 0
+      show_marker: false
+    Move:
+      arm_planner: MobileMoveL
+      hand_planner: ParallelGripper
+      obstacle_avoid_paths: []
+      obstacle_ignore_paths: []
+      close_value: 1.0
+      open_value: 0.0
+      hold_steps: 10
+    Grasp:
+      pre_grasp_offset: 0.1
+      retrieval_offset: 0.1
+      mobile: true
+      pre_grasp_planner: MobileMoveL
+      pre_grasp_mode: 0
+      grasp_mode: 0
+      retrieval_mode: 0
+      reactive: false
+      viz_grasp: false
+      goalset_lock_base: true
+      retrieval_up: true
+      pre_grasp_offset_x: 0.1
+      retrieval_offset_x: 0.15
+    ReachStance:
+      check_current_first: true
+      stance_margin: 0.0
+      max_reach: 1.2
+      max_walks: 1
+      reject_radius: 0.05
+      obstacle_avoidance:
+      - dynamic
+      walk_planner: MobileServoL
+      debug: true
+  auto_collect:
+    task_type: station
+    max_trajectories: 1
+  record:
+    output_dir: /mnt/scratch/xc536_atomic/n058_str_on_4029_r1/out/data/record
+    formats:
+    - lerobot_v21
+    - sim_info
+    clear_buffer_on_failure: true
+    lerobot:
+      subsample_every: 2
+  command:
+    OrderTap:
+      robot_id: 0
+      hand_id: 0
+      init_limit: 90
+      max_attempt: 2
+      observe_timeout: 1500
+      dark_ticks: 110
+      above: 0.06
+      touch_clear: 0.002
+      base_margin: 0.11
+      trim_min: 0.02
+task:
+  stance:
+    stand_radii:
+    - 0.42
+    - 0.5
+    - 0.36
+    walk_fallback: false
+    radii:
+    - 0.6
+    - 0.7
+    - 0.8
+    - 0.9
+    heights:
+    - 0.0
+    bearings_deg:
+    - 0
+    - -30
+    - 30
+    - -60
+    - 60
+    yaw_offsets_deg:
+    - 90.0
+    include_current: true
+  observation: {}
+  reward: {}
+  termination:
+    timeout_steps: 30000
+    success_hold_frames: 1
+  task_version: EXT60-MobileAvatar-v3
+  agent_id: a12
+  primary_category: C6
+  embodiment: stretch3
+  execution_mode: collect_chain
+  level: easy
+  scene_seed: 4029
+  layout:
+    floor_z: 0.03
+    room:
+      x:
+      - -3.7
+      - 3.7
+      'y':
+      - -2.55
+      - 4.05
+    S:
+      x: -3.0
+      'y': -2.0
+      yaw_deg: 30.0
+    boxes:
+      table_a:
+        cx: -1.5
+        cy: 2.4
+        sx: 1.0
+        sy: 0.6
+        height: 0.3
+      table_b:
+        cx: 1.9
+        cy: 2.4
+        sx: 1.0
+        sy: 0.6
+        height: 0.3
+      partition:
+        cx: 0.2
+        cy: 2.55
+        sx: 0.08
+        sy: 2.3
+        height: 1.5
+    stations:
+      A:
+        table: table_a
+        outward:
+        - 0.0
+        - -1.0
+      B:
+        table: table_b
+        outward:
+        - 0.0
+        - -1.0
+  stand:
+    standoff: 0.4
+  stretch:
+    max_lateral: 0.3
+    max_fold_turn: 0.6
+  task_id: N058
+  draw_kind: order
+  cue_min_fraction: 1.0
+  order:
+    station: A
+    pads:
+      L:
+        t: -0.16
+        depth: 0.14
+      R:
+        t: 0.16
+        depth: 0.14
+    pad_size: 0.1
+    pad_height: 0.02
+    flash_s: 1.2
+    lead_s: 0.8
+    gap_range:
+    - 0.5
+    - 1.2
+  pad_legible_size: 0.05
+  cue_hold_s: 3.0
+  arrive_radius: 0.3
+  arrive_yaw: 0.35
+  arrive_ticks: 10
+  touch_below: 0.01
+  touch_above: 0.008
+  touch_release_ticks: 3
+  avatar:
+    lower_s: 1.0
+    body_radius: 0.25
+    robot_radius: 0.3
+    contact_clearance: 0.05
+    rest_travel_tol: 0.05
+  observe:
+    standoff: 1.3
+    dx_jitter: 0.0
+    yaw_jitter_deg: 0.0
+  spawn_jitter:
+    x: 0.1
+    'y': 0.1
+    yaw_deg: 10.0
+  racks:
+    rack_b:
+      station: B
+      t: 0.0
+      depth: 0.12
+      axis: t
+      offsets:
+      - -0.085
+      - 0.05
+      height: 0.05
+      size:
+      - 0.03
+      - 0.05
+  items:
+    tapper:
+      usd: $MAGICSIM_ASSETS/StationMemory/sm_tapper
+      station: B
+      t: 0.0
+      depth: 0.12
+      z: 0.0665
+      yaw_deg: 0
+      physics:
+        type: rigid
+        collision: true
+        mass: 0.12
+        physics_material:
+          static_friction: 1.5
+          dynamic_friction: 1.5
+          restitution: 0.0
+  draw:
+    sequence:
+    - R
+    - L
+    starts:
+    - 0.8
+    - 2.5
+    flash_s: 1.2
+  extra_boxes:
+    pad_L:
+      centre:
+      - -1.66
+      - 2.24
+      - 0.33999999999999997
+      size:
+      - 0.1
+      - 0.1
+      - 0.02
+      color:
+      - 0.42
+      - 0.44
+      - 0.5
+      collision: true
+    lit_L:
+      centre:
+      - -1.66
+      - 2.24
+      - 0.352
+      size:
+      - 0.10400000000000001
+      - 0.10400000000000001
+      - 0.004
+      color:
+      - 1.0
+      - 0.85
+      - 0.15
+      collision: false
+    pad_R:
+      centre:
+      - -1.34
+      - 2.24
+      - 0.33999999999999997
+      size:
+      - 0.1
+      - 0.1
+      - 0.02
+      color:
+      - 0.42
+      - 0.44
+      - 0.5
+      collision: true
+    lit_R:
+      centre:
+      - -1.34
+      - 2.24
+      - 0.352
+      size:
+      - 0.10400000000000001
+      - 0.10400000000000001
+      - 0.004
+      color:
+      - 1.0
+      - 0.85
+      - 0.15
+      collision: false
+env_string: TemporalOrderEnv-V0
+check:
+  command: OrderTap
+levels:
+  easy:
+    task:
+      spawn_jitter:
+        x: 0.1
+        'y': 0.1
+        yaw_deg: 10.0
+  medium:
+    task:
+      spawn_jitter:
+        x: 0.2
+        'y': 0.2
+        yaw_deg: 15.0
+  hard:
+    task:
+      spawn_jitter:
+        x: 0.3
+        'y': 0.3
+        yaw_deg: 20.0
+      observe:
+        standoff: 1.3
+        dx_jitter: 0.2
+        yaw_jitter_deg: 8.0
+visual_dr:
+  keep:
+  - lit_L
+  - lit_R
+  - pad_L
+  - pad_R
+  - Person

N058/stretch3/dr_on/seed_4029/data/record/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: 'Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order.'; expected 'Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "2039 rows vs ceil(4078/2) = 2039"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 91..4167, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "86.50 MB, 2039 frames at 25 fps, mean luma 52..111, std 34, new picture 2038x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "2039 vs 2039"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "64.87 MB, 2039 frames at 25 fps, mean luma 69..126, std 44, new picture 2038x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "2039 vs 2039"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "ordertap/000/sim_info"
+  }
+ }
+}

N058/stretch3/dr_on/seed_4029/data/record/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n058_str_on_4029_r1/out/data/record  task=N058  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n058_str_on_4029_r1/out/data/record/ordertap/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 2039  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: 2039 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: 'Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order.'; expected 'Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order.'
+rows 2039 at dataset fps 25 = 81.56 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2039 rows vs ceil(4078/2) = 2039
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 91..4167, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 86.50 MB, 2039 frames at 25 fps, mean luma 52..111, std 34, new picture 2038x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 2039 vs 2039
+[PASS] video observation.images.wrist decodes, 640x480, not black: 64.87 MB, 2039 frames at 25 fps, mean luma 69..126, std 44, new picture 2038x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 2039 vs 2039
+parquet size 3.65 MB
+[PASS] sim_info present: ordertap/000/sim_info
+dataset size 155.43 MB; whole cell dir 157.1 MB
+RESULT: ALL PASS

N058/stretch3/dr_on/seed_4029/data/record/ordertap/000/completed/0.json

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

N058/stretch3/dr_on/seed_4029/data/record/ordertap/000/lerobot_v21/data/chunk-000/episode_000000.parquet

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+version https://git-lfs.github.com/spec/v1
+oid sha256:b354e1a8ddf95958e8a7b659893b4c95628834c7228e714c3b91bdc53536055a
+size 3653118

N058/stretch3/dr_on/seed_4029/data/record/ordertap/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order."], "length": 2039, "magicsim/control_steps": 4078, "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 gray rack b post1. There are a large gray table a, a large gray table b, a large white partition, a large gray pad L, a large yellow lit L, a large gray pad R, a large yellow lit R, a large gray rack b post0, a large gray rack b post1 and a small tapper. The gray table a is to the left of the gray pad L. The gray table b is to the left of the gray rack b post1. The white partition is to the right of the yellow lit R. The gray rack b post0 is behind the tapper. The tapper is on top of the gray rack b post1. The scene is viewed from front, slightly above table height."}

N058/stretch3/dr_on/seed_4029/data/record/ordertap/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,761 @@
+{
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+ "control_steps": 4078,
+ "language": {
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+    {
+     "id": "rack_b_post0_1",
+     "cat_name": "rack_b_post0",
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+     "noun": "rack b post0",
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+     "relation": "left_of",
+     "object": "pad_L_1"
+    },
+    {
+     "subject": "table_b_1",
+     "relation": "left_of",
+     "object": "rack_b_post1_1"
+    },
+    {
+     "subject": "partition_1",
+     "relation": "right_of",
+     "object": "lit_R_1"
+    },
+    {
+     "subject": "rack_b_post0_1",
+     "relation": "behind",
+     "object": "tapper_1"
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+     "relation": "on_top_of",
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+   ],
+   "robots": [
+    {
+     "name": "HelloRobot",
+     "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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+     "facing_yaw_deg": 25.286397418963087,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1500.0,
+    "ambient": "bright"
+   },
+   "effects": [],
+   "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the gray rack b post1. There are a large gray table a, a large gray table b, a large white partition, a large gray pad L, a large yellow lit L, a large gray pad R, a large yellow lit R, a large gray rack b post0, a large gray rack b post1 and a small tapper. The gray table a is to the left of the gray pad L. The gray table b is to the left of the gray rack b post1. The white partition is to the right of the yellow lit R. The gray rack b post0 is behind the tapper. The tapper is on top of the gray rack b post1. The scene is viewed from front, slightly above table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n             [[tapper] post1]\n\n     [partition]\n\n[[[lit R]\n\n\n\n                        [robot]"
+  },
+  "task": {
+   "task_type": "OrderTap",
+   "instruction": "Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Ordertap the 1.5707963267948966.",
+   "task_id": "N058",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {
+   "frame_1825": {
+    "frame_idx": 1825,
+    "caption": "Pre-grasping the small tapper, moving the arm toward it; the right gripper is below and to the left of and in front of the tapper.",
+    "skill": "Grasp",
+    "phase": "pre_grasp",
+    "skill_state": "computing",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "tapper_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_1867": {
+    "frame_idx": 1867,
+    "caption": "Pre-grasping the small tapper, moving the arm toward it; the right gripper is below and in front of the tapper.",
+    "skill": "Grasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "tapper_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_1889": {
+    "frame_idx": 1889,
+    "caption": "Pre-grasping the small tapper, moving the arm toward it; the right gripper is below the tapper.",
+    "skill": "Grasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "tapper_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1890": {
+    "frame_idx": 1890,
+    "caption": "Grasping the small tapper, moving the arm in to make contact; the right gripper is below the tapper.",
+    "skill": "Grasp",
+    "phase": "grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "tapper_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1895": {
+    "frame_idx": 1895,
+    "caption": "Grasping the small tapper, moving the arm in to make contact.",
+    "skill": "Grasp",
+    "phase": "grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "tapper_1",
+    "hand_id": 0,
+    "eef_relation": []
+   },
+   "frame_1940": {
+    "frame_idx": 1940,
+    "caption": "Closing the right gripper on the tapper.",
+    "skill": "Grasp",
+    "phase": "close_gripper",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "tapper_1",
+    "hand_id": 0,
+    "eef_relation": []
+   },
+   "frame_2000": {
+    "frame_idx": 2000,
+    "caption": "Lifting the tapper away with the gripper.",
+    "skill": "Grasp",
+    "phase": "retrieval",
+    "skill_state": "running",
+    "planner": "ParallelGripper",
+    "planner_state": "finished",
+    "target": "tapper_1",
+    "hand_id": 0,
+    "eef_relation": []
+   },
+   "frame_2001": {
+    "frame_idx": 2001,
+    "caption": "Lifting the tapper away with the arm.",
+    "skill": "Grasp",
+    "phase": "retrieval",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "tapper_1",
+    "hand_id": 0,
+    "eef_relation": []
+   },
+   "frame_2005": {
+    "frame_idx": 2005,
+    "caption": "Lifting the tapper away with the arm; the right gripper is below the tapper.",
+    "skill": "Grasp",
+    "phase": "retrieval",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "tapper_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_2050": {
+    "frame_idx": 2050,
+    "caption": "Done — the small tapper is grasped; the right gripper is below the tapper.",
+    "skill": "Grasp",
+    "phase": "completed",
+    "skill_state": "finished",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "tapper_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_2199": {
+    "frame_idx": 2199,
+    "caption": "Pre-grasping the small tapper, moving the arm toward it; the right gripper is below and to the left of and in front of the tapper.",
+    "skill": "Grasp",
+    "phase": "pre_grasp",
+    "skill_state": "computing",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "tapper_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2250": {
+    "frame_idx": 2250,
+    "caption": "Pre-grasping the small tapper, moving the arm toward it; the right gripper is below and in front of the tapper.",
+    "skill": "Grasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "tapper_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_2263": {
+    "frame_idx": 2263,
+    "caption": "Pre-grasping the small tapper, moving the arm toward it; the right gripper is below the tapper.",
+    "skill": "Grasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "tapper_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_2266": {
+    "frame_idx": 2266,
+    "caption": "Grasping the small tapper, moving the arm in to make contact; the right gripper is below the tapper.",
+    "skill": "Grasp",
+    "phase": "grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "tapper_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_2273": {
+    "frame_idx": 2273,
+    "caption": "Grasping the small tapper, moving the arm in to make contact.",
+    "skill": "Grasp",
+    "phase": "grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "tapper_1",
+    "hand_id": 0,
+    "eef_relation": []
+   },
+   "frame_2316": {
+    "frame_idx": 2316,
+    "caption": "Closing the right gripper on the tapper.",
+    "skill": "Grasp",
+    "phase": "close_gripper",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "tapper_1",
+    "hand_id": 0,
+    "eef_relation": []
+   },
+   "frame_2376": {
+    "frame_idx": 2376,
+    "caption": "Lifting the tapper away with the gripper.",
+    "skill": "Grasp",
+    "phase": "retrieval",
+    "skill_state": "running",
+    "planner": "ParallelGripper",
+    "planner_state": "finished",
+    "target": "tapper_1",
+    "hand_id": 0,
+    "eef_relation": []
+   },
+   "frame_2377": {
+    "frame_idx": 2377,
+    "caption": "Lifting the tapper away with the arm.",
+    "skill": "Grasp",
+    "phase": "retrieval",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "tapper_1",
+    "hand_id": 0,
+    "eef_relation": []
+   },
+   "frame_2379": {
+    "frame_idx": 2379,
+    "caption": "Lifting the tapper away with the arm; the right gripper is below the tapper.",
+    "skill": "Grasp",
+    "phase": "retrieval",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "tapper_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_2426": {
+    "frame_idx": 2426,
+    "caption": "Done — the small tapper is grasped; the right gripper is below the tapper.",
+    "skill": "Grasp",
+    "phase": "completed",
+    "skill_state": "finished",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "tapper_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   }
+  }
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": false,
+ "truncated": false
+}

N058/stretch3/dr_on/seed_4029/data/record/ordertap/000/lerobot_v21/meta/info.json

@@ -0,0 +1,1044 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "HelloRobotCfg",
+    "total_episodes": 1,
+    "total_frames": 2039,
+    "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",
+            "shape": [
+                11
+            ],
+            "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": [
+                7
+            ],
+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                795
+            ],
+            "names": [
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+                "avatar_motion.Person_1.joint_pos.1",
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N058/stretch3/dr_on/seed_4029/data/record/ordertap/000/lerobot_v21/meta/magicsim_manifest.json

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+{
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N058/stretch3/dr_on/seed_4029/data/record/ordertap/000/lerobot_v21/meta/tasks.jsonl

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+{"task_index": 0, "task": "Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order."}

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N058/stretch3/dr_on/seed_4029/data/record/ordertap/000/sim_info/0/scene_snapshot.json

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+        },
+        "avatars": {
+            "Person_1": {
+                "cat": "Person",
+                "inst_id": 1,
+                "asset": [
+                    "usd",
+                    "/scratch/xc536/magicsim_atomic/MagicSim/Assets/Avatar/Medical/F_Medical_01/F_Medical_01.usd"
+                ],
+                "scale": [
+                    1.0,
+                    1.0,
+                    1.0
+                ],
+                "joint_names": [
+                    "RL_BoneRoot",
+                    "Hip",
+                    "Pelvis",
+                    "L_Thigh",
+                    "L_Calf",
+                    "L_Foot",
+                    "L_ToeBaseShareBone",
+                    "L_ToeBase",
+                    "L_PinkyToe1",
+                    "L_RingToe1",
+                    "L_MidToe1",
+                    "L_IndexToe1",
+                    "L_BigToe1",
+                    "L_CalfTwist01",
+                    "L_CalfTwist02",
+                    "L_KneeShareBone",
+                    "L_ThighTwist01",
+                    "L_ThighTwist02",
+                    "R_Thigh",
+                    "R_Calf",
+                    "R_KneeShareBone",
+                    "R_Foot",
+                    "R_ToeBase",
+                    "R_BigToe1",
+                    "R_PinkyToe1",
+                    "R_RingToe1",
+                    "R_IndexToe1",
+                    "R_MidToe1",
+                    "R_ToeBaseShareBone",
+                    "R_CalfTwist01",
+                    "R_CalfTwist02",
+                    "R_ThighTwist01",
+                    "R_ThighTwist02",
+                    "Waist",
+                    "Spine01",
+                    "Spine02",
+                    "NeckTwist01",
+                    "NeckTwist02",
+                    "Head",
+                    "FacialBone",
+                    "JawRoot",
+                    "Tongue01",
+                    "Tongue02",
+                    "Tongue03",
+                    "Teeth02",
+                    "R_Eye",
+                    "L_Eye",
+                    "UpperJaw",
+                    "Teeth01",
+                    "L_Clavicle",
+                    "L_Upperarm",
+                    "L_Forearm",
+                    "L_ForearmTwist01",
+                    "L_ForearmTwist02",
+                    "L_ElbowShareBone",
+                    "L_Hand",
+                    "L_Pinky1",
+                    "L_Pinky2",
+                    "L_Pinky3",
+                    "L_Ring1",
+                    "L_Ring2",
+                    "L_Ring3",
+                    "L_Mid1",
+                    "L_Mid2",
+                    "L_Mid3",
+                    "L_Index1",
+                    "L_Index2",
+                    "L_Index3",
+                    "L_Thumb1",
+                    "L_Thumb2",
+                    "L_Thumb3",
+                    "L_UpperarmTwist01",
+                    "L_UpperarmTwist02",
+                    "L_RibsTwist",
+                    "L_Breast",
+                    "R_RibsTwist",
+                    "R_Breast",
+                    "R_Clavicle",
+                    "R_Upperarm",
+                    "R_Forearm",
+                    "R_ElbowShareBone",
+                    "R_ForearmTwist01",
+                    "R_ForearmTwist02",
+                    "R_Hand",
+                    "R_Ring1",
+                    "R_Ring2",
+                    "R_Ring3",
+                    "R_Mid1",
+                    "R_Mid2",
+                    "R_Mid3",
+                    "R_Thumb1",
+                    "R_Thumb2",
+                    "R_Thumb3",
+                    "R_Index1",
+                    "R_Index2",
+                    "R_Index3",
+                    "R_Pinky1",
+                    "R_Pinky2",
+                    "R_Pinky3",
+                    "R_UpperarmTwist01",
+                    "R_UpperarmTwist02"
+                ],
+                "start_state": {
+                    "asset": [
+                        "usd",
+                        "/scratch/xc536/magicsim_atomic/MagicSim/Assets/Avatar/Medical/F_Medical_01/F_Medical_01.usd"
+                    ],
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+                        "pos": [
+                            -1.5087711811065674,
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+                            0.029999999329447746
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+                            1.0
+                        ]
+                    },
+                    "type_specific": {
+                        "action_queue": {
+                            "queue": [],
+                            "loop": false,
+                            "current": null
+                        },
+                        "character_state": {
+                            "Action": "None",
+                            "Walk": 0.0,
+                            "PathPoints": [],
+                            "lookAround": 0.0,
+                            "SitWeight": 1.0,
+                            "MotionInPlace": 1.0
+                        },
+                        "control_state": {
+                            "mode": "ik",
+                            "ik_backend": "animgraph",
+                            "curobo_base": null,
+                            "joint_names": [
+                                "RL_BoneRoot",
+                                "RL_BoneRoot/Hip",
+                                "RL_BoneRoot/Hip/Pelvis",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBaseShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_PinkyToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_RingToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_MidToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_IndexToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_BigToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_CalfTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_CalfTwist01/L_CalfTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_KneeShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_ThighTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_ThighTwist01/L_ThighTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_KneeShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_BigToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_PinkyToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_RingToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_IndexToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_MidToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBaseShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_CalfTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_CalfTwist01/R_CalfTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_ThighTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_ThighTwist01/R_ThighTwist02",
+                                "RL_BoneRoot/Hip/Waist",
+                                "RL_BoneRoot/Hip/Waist/Spine01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01/Tongue02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01/Tongue02/Tongue03",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Teeth02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/R_Eye",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/L_Eye",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/UpperJaw",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/UpperJaw/Teeth01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ForearmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ForearmTwist01/L_ForearmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ElbowShareBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1/L_Pinky2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1/L_Pinky2/L_Pinky3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1/L_Ring2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1/L_Ring2/L_Ring3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1/L_Mid2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1/L_Mid2/L_Mid3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1/L_Index2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1/L_Index2/L_Index3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1/L_Thumb2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1/L_Thumb2/L_Thumb3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_UpperarmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_UpperarmTwist01/L_UpperarmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_RibsTwist",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_RibsTwist/L_Breast",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_RibsTwist",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_RibsTwist/R_Breast",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ElbowShareBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ForearmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ForearmTwist01/R_ForearmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Ring1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Ring1/R_Ring2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Ring1/R_Ring2/R_Ring3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1/R_Mid2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1/R_Mid2/R_Mid3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Thumb1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Thumb1/R_Thumb2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Thumb1/R_Thumb2/R_Thumb3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Index1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Index1/R_Index2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Index1/R_Index2/R_Index3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Pinky1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Pinky1/R_Pinky2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Pinky1/R_Pinky2/R_Pinky3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_UpperarmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_UpperarmTwist01/R_UpperarmTwist02"
+                            ],
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N058/stretch3/dr_on/seed_4029/data/record/ordertap/000/sim_info/0/sim_states.npz

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N058/stretch3/dr_on/seed_4029/data/record/ordertap/000/sim_info/magicsim_manifest.json

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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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+}

N058/stretch3/dr_on/seed_4029/data/record/ordertap/000/visual_dr.json

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+     "bind_failed": 0
+    },
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+    "lit_R": 1,
+    "pad_L": 1,
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+      "rigid_body"
+     ],
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+      "rigid_body"
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+     [
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+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g4",
+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g6",
+      "rigid_body"
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+     [
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+      "rigid_body"
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+     [
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+      "rigid_body"
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+      "rigid_body"
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+     [
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+      "rigid_body"
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+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
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+     [
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+      "rigid_body"
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+      "rigid_body"
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+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/laser/collisions/laser_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/laser/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_left_wheel/visuals_menagerie/g2",
+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
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+     [
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+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g3",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g4",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g5",
+      "rigid_body"
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+     [
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+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g7",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g8",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g9",
+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g11",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g12",
+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head_pan/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head_pan/visuals_menagerie/g2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head_tilt/collisions/link_head_tilt_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ]
+    ]
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+     "wall": 28,
+     "furniture": 38,
+     "object": 54
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+     "reason": "glass",
+     "bound_prims": 1
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "reason": "emissive",
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+    }
+   ],
+   "unsupported": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "mdl": "OmniGlass.mdl",
+     "bound_prims": 1
+    }
+   ]
+  }
+ ]
+}