add 6 staged episodes

N011/go2_arm/dr_off/seed_1040/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 water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'; expected 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "6445 rows vs ceil(12890/2) = 6445"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 241..13129, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "156.73 MB, 6445 frames at 25 fps, mean luma 100..137, std 8, new picture 6444x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "6445 vs 6445"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "141.11 MB, 6445 frames at 25 fps, mean luma 95..158, std 36, new picture 6444x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "6445 vs 6445"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "ladle/000/sim_info"
+  }
+ }
+}

N011/go2_arm/dr_off/seed_1040/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n011_go2_off_1040/out  task=N011  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n011_go2_off_1040/out/ladle/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 6445  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: 6445 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 water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'; expected 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'
+rows 6445 at dataset fps 25 = 257.80 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 6445 rows vs ceil(12890/2) = 6445
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 241..13129, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 156.73 MB, 6445 frames at 25 fps, mean luma 100..137, std 8, new picture 6444x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 6445 vs 6445
+[PASS] video observation.images.wrist decodes, 640x480, not black: 141.11 MB, 6445 frames at 25 fps, mean luma 95..158, std 36, new picture 6444x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 6445 vs 6445
+parquet size 636.62 MB
+[PASS] sim_info present: ladle/000/sim_info
+dataset size 940.73 MB; whole cell dir 1983.7 MB
+RESULT: ALL PASS

N011/go2_arm/dr_off/seed_1040/config.yaml

@@ -0,0 +1,758 @@
+env_string: LadleEnv-V0
+env:
+  sim:
+    device: cpu
+    use_fabric: false
+    decimation: 4
+    dt: 0.005
+    seed: 1040
+    soft_resets: 1000000
+    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
+  robot:
+    Go2Plus:
+      name: go2plus
+      type: mobilemanip
+      common:
+        pos:
+        - - -3.0307211805867587
+          - -1.6433107541487777
+          - 0.45
+        - - -3.0307211805867587
+          - -1.6433107541487777
+          - 0.45
+        ori:
+        - - 0
+          - 0
+          - 29.999999999999993
+        - - 0
+          - 0
+          - 29.999999999999993
+        initial_joint_pos: null
+      action:
+        base_action: unified
+        arm_action: ik_curobo
+        eef_action: binary
+      reset: default
+      planner:
+        dual_mode: true
+        base_joint_names:
+        - base_x
+        - base_y
+        - base_yaw
+        - base_height
+        ik:
+          type: go2plus
+          enable: true
+          ik_num_instances: 1
+          ik_batch_size: 1
+          ik_num_seeds: 64
+          ik_position_threshold: 0.005
+          ik_rotation_threshold: 0.05
+          microbatch_wait_ms: 20.0
+          relative_to_world_frame: false
+          eef_num: 1
+          debug: false
+          seed_use_live_joint_pos: true
+        motiongen:
+          type: go2plus
+          enable: true
+          batch_size: 1
+          debug: false
+          motiongen_num_instances: 1
+          microbatch_wait_ms: 400.0
+          mode: position
+          relative_to_world_frame: false
+          eef_num: 1
+          seed_use_live_joint_pos: true
+          anchor_ik_seeds_to_current_state: false
+          num_trajopt_seeds: 1
+          num_ik_seeds: 4
+          max_attempts: 4
+          joint_limit_retry_weight: 100000000.0
+          start_state_limit_inset: 0.002
+        body:
+          type: nav
+          dwb_type: dwb_quadruped
+          dwb_quadruped:
+            device: cpu
+            dt: 0.02
+            debug: false
+            num_rollout_steps: 60
+            num_speed_samples: 11
+            num_steer_samples: 11
+            num_vx_samples: 7
+            num_vy_samples: 7
+            num_yaw_samples: 7
+            max_accel: 0.4
+            max_steer_rate: 1.5
+            max_accel_vx: 0.4
+            max_accel_vy: 0.4
+            max_yaw_accel: 0.4444444444444445
+            w_goal: 6.0
+            w_path: 24.0
+            w_vel: 0.2
+            w_vy: 0.0
+            dilate_radius: 0.2
+            goal_cost_mode: path
+            room_size: 12.0
+            occupancy_update_interval: 25
+            scan_height: 0.38
+            scan_min_z: 0.15
+            scan_max_z: 0.63
+            goal_pos_threshold: 0.16
+            goal_yaw_threshold: 0.08
+            goal_yaw_hysteresis: 0.02
+            kp_goal_yaw: 4.0
+            heading_reference: path
+            turn_yaw_threshold: 0.8
+            heading_lookahead: 0.8
+            heading_min_leg: 0.35
+            route_yaw_gain: 2.0
+            min_vx: -0.2
+            max_vx: 0.2
+            min_vy: -0.2
+            max_vy: 0.2
+            min_yaw_rate: -0.22222222222222224
+            max_yaw_rate: 0.22222222222222224
+            dynamic_window_source: command
+            default_height: 0.35
+            safety_min_progress_speed: 0.1
+            safety_stop_distance: 0.2
+            safety_enabled: true
+            safety_deceleration: 0.5
+            safety_reaction_time: 0.5
+            safety_release_distance: 0.35
+            scan_type: 3d
+            robot_type: quadruped
+            velocity_frame: body
+          p_controller:
+            velocity_frame: body
+            nav_upgrade_distance: 0.03
+            nav_heading_target: -1
+            kp_linear_x: 3.0
+            kd_linear_x: 0.4
+            kp_linear_y: 3.0
+            kd_linear_y: 0.4
+            kp_angular: 1.5
+            kd_angular: 0.2
+            kp_angular_turning_only: 1.5
+            kd_angular_turning_only: 0.2
+            min_vel: -0.4
+            max_vel: 0.5
+            linear_dead_zone: 0.01
+            angular_dead_zone: 0.05
+        arm:
+          type: default
+        eef:
+          type: default
+      physics:
+        robot_radius: 0.5
+  camera:
+    enable_tiled: false
+    colorize_depth: false
+    head:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.8231182098388672
+        horizontal_aperture: 1.9199999570846558
+        vertical_aperture: 1.4407838582992554
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/Bodies/go2_base
+        pos:
+        - 0.332051
+        - 0.038027
+        - 0.093559
+        ori:
+        - 169.9473
+        - -88.6452
+        - 81.5985
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+    wrist:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.8517500162124634
+        horizontal_aperture: 1.9199999570846558
+        vertical_aperture: 1.4393036365509033
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/Bodies/piper_link6
+        pos:
+        - -0.074987
+        - 0.005289
+        - 0.045821
+        ori:
+        - 179.3135
+        - -20.212
+        - 88.9402
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+  scene:
+    terrain:
+      type: nav_room
+      collision: true
+      hide_top_walls: true
+      usd:
+      - $MAGICSIM_ASSETS/Room/Collected_SimpleRoom
+      annotation: Annotation
+      random: false
+      pos:
+      - 0.0
+      - 0.0
+      - 0.0
+      ori:
+      - 0.0
+      - 0.0
+      - 0.0
+      scale:
+      - 1.0
+      - 1.0
+      - 1.0
+      physics_material:
+        static_friction: 1.0
+        dynamic_friction: 1.0
+        restitution: 0.0
+        friction_combine_mode: multiply
+        restitution_combine_mode: multiply
+    background:
+      intensity:
+      - 1000
+      - 1000
+    light:
+      light_1:
+        types:
+        - Dome
+        common:
+          pos:
+          - 0.0
+          - 0.0
+          - 0.0
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          color_temperature_range:
+          - 6500
+          - 6500
+          color_range:
+          - - 1.0
+            - 1.0
+            - 1.0
+          - - 1.0
+            - 1.0
+            - 1.0
+        Dome:
+          intensity_range:
+          - 989.9470003041482
+          - 989.9470003041482
+    water:
+      max_particles: 9000
+      particle:
+        fluid_rest_offset: 0.0027
+        ccd: true
+      look:
+        mode: spheres
+        color:
+        - 0.05
+        - 0.45
+        - 1.0
+        bead_scale: 1.5
+      retire:
+        floor_ttl: 3600.0
+        max_age: 7200.0
+        radius: 30.0
+        below: -2.0
+    objects:
+      table_a:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        table_a_1:
+          pos:
+          - -1.0
+          - 3.2
+          - 0.30500000000000005
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 1.5
+          - 0.6
+          - 0.55
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.35
+              - 0.37
+              - 0.4
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.825801909369332
+              dynamic_friction: 0.6193514320269989
+              restitution: 0.0
+      table_b:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        table_b_1:
+          pos:
+          - 2.6
+          - 0.4
+          - 0.30500000000000005
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.7
+          - 1.0
+          - 0.55
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.35
+              - 0.37
+              - 0.4
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.7494964943239372
+              dynamic_friction: 0.5621223707429528
+              restitution: 0.0
+      ladle:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Ladle/Object.usda
+        num_per_env: 1
+        random: false
+        ladle_1:
+          pos:
+          - -1.3482776117610233
+          - 3.1159522538180853
+          - 0.7410000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 87.39153677727418
+          physics:
+            type: rigid
+            mass: 0.04844112628959436
+            physics_material:
+              static_friction: 1.7439496024383054
+              dynamic_friction: 1.5259559021335172
+              restitution: 0.0
+          water: {}
+      rack_a0:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        rack_a0_1:
+          pos:
+          - -1.35
+          - 3.205
+          - 0.655
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.1
+          - 0.06999999999999999
+          - 0.15000000000000002
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.45
+              - 0.3
+              - 0.18
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.8659680206945364
+              dynamic_friction: 0.6494760155209023
+              restitution: 0.0
+      basin:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Basin/Object.usda
+        num_per_env: 1
+        random: false
+        basin_1:
+          pos:
+          - -0.55
+          - 3.2
+          - 0.5950000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.8212200974675131
+              dynamic_friction: 0.6159150731006348
+              restitution: 0.0
+          water: {}
+      cup:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/ReceivingCup/Object.usda
+        num_per_env: 1
+        random: false
+        cup_1:
+          pos:
+          - 2.369020034738473
+          - 0.41117104275703625
+          - 0.5810000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          physics:
+            type: rigid
+            mass: 0.2103928059822823
+            physics_material:
+              static_friction: 0.8724923355974266
+              dynamic_friction: 0.6543692516980699
+              restitution: 0.0
+          water: {}
+  nav:
+    navmesh:
+      enabled: true
+      visualize: false
+      bake_timeout_s: 120
+      agent_height_cm: 65
+      min_agent_radius_cm: 30.0
+      max_agent_radius_cm: 30.0
+      max_step_height_cm: 20
+      max_floor_slope_deg: 30
+      agent_island_radius_cm: 5
+      auto_exclude_rigid_bodies: true
+      validate_path_clearance: true
+      validate_path_window: true
+      navmesh_offset_z_m: 0
+      verbose: true
+    occupancymap:
+      cell_size: 0.05
+task:
+  observation: {}
+  reward: {}
+  termination:
+    timeout_steps: 24000
+    success_hold_frames: 1
+  mmb:
+    task_id: N011
+    agent_id: a03
+    embodiment: stretch3
+    level: easy
+    scene_seed: 1040
+    layout:
+      S:
+      - -3.0307211805867587
+      - -1.6433107541487777
+      - 0.5235987755982987
+      tables:
+        A:
+          center:
+          - -1.0
+          - 3.2
+          size:
+          - 1.5
+          - 0.6
+          top: 0.5800000000000001
+          color:
+          - 0.35
+          - 0.37
+          - 0.4
+        B:
+          center:
+          - 2.6
+          - 0.4
+          size:
+          - 0.7
+          - 1.0
+          top: 0.5800000000000001
+          color:
+          - 0.35
+          - 0.37
+          - 0.4
+      stations:
+        A:
+          table: A
+          work_point:
+          - -1.35
+          - 3.12
+          arm_dir:
+          - 0.0
+          - 1.0
+          reach: 0.54
+          fwd: 0.0
+          stand:
+          - -1.35
+          - 2.58
+          - 1.5707963267948966
+        B:
+          table: B
+          work_point:
+          - 2.38
+          - 0.4
+          arm_dir:
+          - 1.0
+          - 0.0
+          reach: 0.54
+          fwd: 0.0
+          stand:
+          - 1.8399999999999999
+          - 0.4
+          - 0.0
+    hold_ticks: 40
+    grace_ticks: 400
+    water_settle_ticks: 150
+    object_settle_ticks: 60
+    planning:
+      avoid:
+      - dynamic
+      ignore:
+      - ladle
+      - water
+    water:
+      max_particles: 9000
+    basin:
+      center:
+      - -0.55
+      - 3.2
+      floor_z: 0.5950000000000001
+      water_depth: 0.1
+      inner:
+      - 0.12
+      - 0.11
+      - 0.12
+      a2_stand:
+      - -0.55
+      - 2.56
+      - 1.5707963267948966
+    cup:
+      center:
+      - 2.369020034738473
+      - 0.41117104275703625
+      rim_above_table: 0.075
+    success:
+      min_deliver_ml: 20.0
+      max_spill_ml: 15.0
+      min_carry_frac: 0.5
+      max_base_speed_at_pour: 0.05
+    tool:
+      category: ladle
+      asset: Ladle
+      plate_z: 0.7400000000000001
+    view:
+      eye:
+      - 2.9299999999999997
+      - -0.15000000000000002
+      - 0.9800000000000001
+      target:
+      - 2.33
+      - 0.4
+      - 0.68
+    dr:
+      seed: 1040
+      spawn_dxy:
+      - -0.031
+      - 0.157
+      friction_scale:
+        basin_1: 1.027
+        cup_1: 1.091
+        ladle_1: 1.09
+        rack_a0_1: 1.082
+        table_a_1: 1.032
+        table_b_1: 0.937
+      moved:
+        ladle_1:
+        - 0.0017
+        - -0.004
+        - -2.61
+        cup_1:
+        - -0.011
+        - 0.0112
+      light_scale: 1.1
+collect:
+  command:
+    Ladle:
+      stage_retries: 2
+      robot_id: 0
+      init_limit: 30
+      max_attempt: 1
+      completion_timeout_steps: 3600
+      pre_back: 0.12
+      lift: 0.1
+      carry:
+        lateral: 0.5
+        forward: 0.0
+        z: 0.88
+      carry_b:
+        lateral: 0.5
+        forward: 0.0
+        z: 0.88
+      dip:
+        above: 0.12
+        clear_bottom: 0.006
+        rim_under: -0.011
+        tilt_deg: 20.0
+        fill_ticks: 60
+        dwell_ticks: 90
+        rise: 0.12
+        rise_legs:
+        - 0.045
+        - 0.12
+      pour:
+        clearance: 0.06
+        aim: -0.04
+        pre_pitch_deg: 10.0
+        pre_pitch_variants:
+        - 0.0
+        - 5.0
+        - -5.0
+        pitch_deg:
+        - 70.0
+        - 100.0
+        lip_drift: 0.03
+        reach_margin: 0.015
+        hold_ticks: 240
+        stop_ticks: 90
+        drain:
+          pitch_deg: 85.0
+          aim: 0.0
+          hold_ticks: 90
+        mode: roll
+        roll_sign: -1.0
+      modes:
+        pre_grasp: -1
+        grasp: 4
+        lift: 4
+        carry: -1
+        pre_dip: -1
+        dip: 4
+        level: 4
+        trim: 4
+        rise: 4
+        pre_pour: 4
+        tilt: 4
+        retreat: 4
+  global_planner:
+    NavTo:
+      use_navmesh: true
+      use_absolute: true
+      translation_threshold: 0.2
+      rotation_threshold: 0.1
+      num_path_segments: 30
+      start_forward_offset: -0.25
+      visualize_path: false
+      carry_arm: true
+    NavToTrim:
+      use_navmesh: false
+      carry_arm: true
+      visualize_path: false
+      trim_pos_threshold: 0.01
+      trim_yaw_threshold: 0.015
+      max_steps: 1500
+    MobileMoveL:
+      translation_threshold: 0.006
+      rotation_threshold: 0.2
+      stall_release_ticks: 100
+      stall_release_factor: 5.0
+      motiongen_distance_threshold: 0.05
+      timeout_steps: 3000
+      timeout_done_tolerance: 0.06
+      debug: false
+      debug_viz: false
+      debug_sphere: false
+      reactive: false
+      base_pos_threshold: 0.12
+      base_rot_threshold: 0.5
+      eef_pos_threshold: 0.03
+      eef_rot_threshold: 0.3
+      waypoint_max_steps: 8
+      interp_steps: 480
+      interp_validate_target: true
+      stall_release_final_factor: 10.0
+    ParallelGripper:
+      gripper_threshold: 0.0005
+      timeout_steps: 60
+  atomic_skill:
+    NavToPose:
+      robot_id: 0
+      position_threshold: 0.2
+      angle_threshold: 0.3
+      trim: false
+    Move:
+      robot_id: 0
+      hand_id: 0
+      arm_planner: MobileMoveL
+      hand_planner: ParallelGripper
+      ramp_steps: 0
+      hold_steps: 60
+      open_value: 0.0
+      close_value: 1.0
+  auto_collect:
+    task_type: ladle
+    max_trajectories: 1
+  record:
+    output_dir: /mnt/scratch/xc536_atomic/n011_go2_off_1040/out
+    formats:
+    - lerobot_v21
+    - sim_info
+    clear_buffer_on_failure: true
+    lerobot:
+      subsample_every: 2
+visual_dr:
+  keep:
+  - Water

N011/go2_arm/dr_off/seed_1040/ladle/000/completed/0.json

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

N011/go2_arm/dr_off/seed_1040/ladle/000/lerobot_v21/data/chunk-000/episode_000000.parquet

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+oid sha256:2f1d9240934f4c7a9511276ce4a6a4f48e4228798634ac1d8044bc46c93bfec4
+size 636621721

N011/go2_arm/dr_off/seed_1040/ladle/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup."], "length": 6445, "magicsim/control_steps": 12890, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown rack a0. There are a large gray table a, a large gray table b, a medium ladle, a large brown rack a0, a medium basin and a small cup. The gray table a is to the right of the brown rack a0. The gray table b is to the right of the cup. The ladle is on top of the brown rack a0. The ladle is to the right of the brown rack a0. The brown rack a0 is to the left of the ladle. The basin is on top of the gray table a. The basin is to the right of the gray table a. The cup is on top of the gray table b. The cup is to the left of the gray table b. The scene is lit by a cool light from the front. The scene is viewed from front, at table height."}

N011/go2_arm/dr_off/seed_1040/ladle/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,427 @@
+{
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+    {
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+     "relation": "right_of",
+     "object": "cup_1"
+    },
+    {
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+     "relation": "on_top_of",
+     "object": "rack_a0_1"
+    },
+    {
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+     "relation": "right_of",
+     "object": "rack_a0_1"
+    },
+    {
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+     "relation": "left_of",
+     "object": "ladle_1"
+    },
+    {
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+     "relation": "on_top_of",
+     "object": "table_a_1"
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+    {
+     "subject": "basin_1",
+     "relation": "right_of",
+     "object": "table_a_1"
+    },
+    {
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+     "relation": "on_top_of",
+     "object": "table_b_1"
+    },
+    {
+     "subject": "cup_1",
+     "relation": "left_of",
+     "object": "table_b_1"
+    }
+   ],
+   "cameras": [
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+     "intrinsics": {
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+     "model": "go2plus",
+     "type": "mobilemanip",
+     "noun": "Unitree Go2 EDU quadruped with a Piper arm",
+     "arms": 1,
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+     "mobile": true,
+     "dexterous": false,
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+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [
+    {
+     "name": "light_1",
+     "kind": "light",
+     "type": "dome",
+     "pose": {
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+     "color_temperature": 6500.0,
+     "warmth": "cool",
+     "color": "white",
+     "direction": "from the front"
+    }
+   ],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1000.0,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown rack a0. There are a large gray table a, a large gray table b, a medium ladle, a large brown rack a0, a medium basin and a small cup. The gray table a is to the right of the brown rack a0. The gray table b is to the right of the cup. The ladle is on top of the brown rack a0. The ladle is to the right of the brown rack a0. The brown rack a0 is to the left of the ladle. The basin is on top of the gray table a. The basin is to the right of the gray table a. The cup is on top of the gray table b. The cup is to the left of the gray table b. The scene is lit by a cool light from the front. The scene is viewed from front, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                      [tab[cup]\n\n [t[basin]\n[rack a0]\n\n\n\n\n                      [robot]"
+  },
+  "task": {
+   "task_type": "Ladle",
+   "instruction": "Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Ladle the 1.5707963267948966.",
+   "task_id": "N011",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {}
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N011/go2_arm/dr_off/seed_1040/ladle/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,290 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-09 05:56:29"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "Go2Plus",
+                "cfg": "Go2PlusCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 12,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "Go2Plus.base_action",
+                "start": 0,
+                "end": 4,
+                "names": [
+                    "base_action_0",
+                    "base_action_1",
+                    "base_action_2",
+                    "base_action_3"
+                ],
+                "source": "Go2UnifiedLocomotionAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "Go2Plus.arm_action",
+                "start": 4,
+                "end": 11,
+                "names": [
+                    "eef0.pos_x",
+                    "eef0.pos_y",
+                    "eef0.pos_z",
+                    "eef0.quat_w",
+                    "eef0.quat_x",
+                    "eef0.quat_y",
+                    "eef0.quat_z"
+                ],
+                "source": "Go2PlusCuroboIKAction",
+                "names_source": "pose_layout"
+            },
+            {
+                "name": "Go2Plus.eef_action",
+                "start": 11,
+                "end": 12,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 26,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_pos",
+                "start": 0,
+                "end": 24,
+                "names": [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11",
+                    "joint_12",
+                    "joint_13",
+                    "joint_14",
+                    "joint_15",
+                    "joint_16",
+                    "joint_17",
+                    "joint_18",
+                    "joint_19",
+                    "joint_20",
+                    "joint_21",
+                    "joint_22",
+                    "joint_23"
+                ],
+                "source": "ObservationManager",
+                "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)"
+            },
+            {
+                "name": "Go2Plus.gripper_pos",
+                "start": 24,
+                "end": 26,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 20,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_vel",
+                "start": 0,
+                "end": 20,
+                "names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
+                "K": [
+                    [
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+                        0.0,
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+                    480
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+                                0.4,
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+                "grace_ticks": 400,
+                "water_settle_ticks": 150,
+                "object_settle_ticks": 60,
+                "planning": {
+                    "avoid": [
+                        "dynamic"
+                    ],
+                    "ignore": [
+                        "ladle",
+                        "water"
+                    ]
+                },
+                "water": {
+                    "max_particles": 9000
+                },
+                "basin": {
+                    "center": [
+                        -0.55,
+                        3.2
+                    ],
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+                    "inner": [
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+                        0.12
+                    ],
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+                        2.56,
+                        1.5707963267948966
+                    ]
+                },
+                "cup": {
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+                        2.369020034738473,
+                        0.41117104275703625
+                    ],
+                    "rim_above_table": 0.075
+                },
+                "success": {
+                    "min_deliver_ml": 20.0,
+                    "max_spill_ml": 15.0,
+                    "min_carry_frac": 0.5,
+                    "max_base_speed_at_pour": 0.05
+                },
+                "tool": {
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+                    "asset": "Ladle",
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+                },
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+                        -0.15000000000000002,
+                        0.9800000000000001
+                    ],
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+                        0.4,
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+                    "spawn_dxy": [
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+                        0.157
+                    ],
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+                        "rack_a0_1": 1.082,
+                        "table_a_1": 1.032,
+                        "table_b_1": 0.937
+                    },
+                    "moved": {
+                        "ladle_1": [
+                            0.0017,
+                            -0.004,
+                            -2.61
+                        ],
+                        "cup_1": [
+                            -0.011,
+                            0.0112
+                        ]
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+                    "light_scale": 1.1
+                }
+            },
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+                "Ladle": {
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+                    "robot_id": 0,
+                    "init_limit": 30,
+                    "max_attempt": 1,
+                    "completion_timeout_steps": 3600,
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+                    "lift": 0.1,
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+                        "clear_bottom": 0.006,
+                        "rim_under": -0.011,
+                        "tilt_deg": 20.0,
+                        "fill_ticks": 60,
+                        "dwell_ticks": 90,
+                        "rise": 0.12,
+                        "rise_legs": [
+                            0.045,
+                            0.12
+                        ]
+                    },
+                    "pour": {
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+                        "aim": -0.04,
+                        "pre_pitch_deg": 10.0,
+                        "pre_pitch_variants": [
+                            0.0,
+                            5.0,
+                            -5.0
+                        ],
+                        "pitch_deg": [
+                            70.0,
+                            100.0
+                        ],
+                        "lip_drift": 0.03,
+                        "reach_margin": 0.015,
+                        "hold_ticks": 240,
+                        "stop_ticks": 90,
+                        "drain": {
+                            "pitch_deg": 85.0,
+                            "aim": 0.0,
+                            "hold_ticks": 90
+                        },
+                        "mode": "roll",
+                        "roll_sign": -1.0
+                    },
+                    "modes": {
+                        "pre_grasp": -1,
+                        "grasp": 4,
+                        "lift": 4,
+                        "carry": -1,
+                        "pre_dip": -1,
+                        "dip": 4,
+                        "level": 4,
+                        "trim": 4,
+                        "rise": 4,
+                        "pre_pour": 4,
+                        "tilt": 4,
+                        "retreat": 4
+                    }
+                }
+            }
+        },
+        "collect": {
+            "command": {
+                "Ladle": {
+                    "stage_retries": 2,
+                    "robot_id": 0,
+                    "init_limit": 30,
+                    "max_attempt": 1,
+                    "completion_timeout_steps": 3600,
+                    "pre_back": 0.12,
+                    "lift": 0.1,
+                    "carry": {
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+                        "forward": 0.0,
+                        "z": 0.88
+                    },
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+                        "lateral": 0.5,
+                        "forward": 0.0,
+                        "z": 0.88
+                    },
+                    "dip": {
+                        "above": 0.12,
+                        "clear_bottom": 0.006,
+                        "rim_under": -0.011,
+                        "tilt_deg": 20.0,
+                        "fill_ticks": 60,
+                        "dwell_ticks": 90,
+                        "rise": 0.12,
+                        "rise_legs": [
+                            0.045,
+                            0.12
+                        ]
+                    },
+                    "pour": {
+                        "clearance": 0.06,
+                        "aim": -0.04,
+                        "pre_pitch_deg": 10.0,
+                        "pre_pitch_variants": [
+                            0.0,
+                            5.0,
+                            -5.0
+                        ],
+                        "pitch_deg": [
+                            70.0,
+                            100.0
+                        ],
+                        "lip_drift": 0.03,
+                        "reach_margin": 0.015,
+                        "hold_ticks": 240,
+                        "stop_ticks": 90,
+                        "drain": {
+                            "pitch_deg": 85.0,
+                            "aim": 0.0,
+                            "hold_ticks": 90
+                        },
+                        "mode": "roll",
+                        "roll_sign": -1.0
+                    },
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+                        "grasp": 4,
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+                        "carry": -1,
+                        "pre_dip": -1,
+                        "dip": 4,
+                        "level": 4,
+                        "trim": 4,
+                        "rise": 4,
+                        "pre_pour": 4,
+                        "tilt": 4,
+                        "retreat": 4
+                    }
+                }
+            },
+            "global_planner": {
+                "NavTo": {
+                    "use_navmesh": true,
+                    "use_absolute": true,
+                    "translation_threshold": 0.2,
+                    "rotation_threshold": 0.1,
+                    "num_path_segments": 30,
+                    "start_forward_offset": -0.25,
+                    "visualize_path": false,
+                    "carry_arm": true
+                },
+                "NavToTrim": {
+                    "use_navmesh": false,
+                    "carry_arm": true,
+                    "visualize_path": false,
+                    "trim_pos_threshold": 0.01,
+                    "trim_yaw_threshold": 0.015,
+                    "max_steps": 1500
+                },
+                "MobileMoveL": {
+                    "translation_threshold": 0.006,
+                    "rotation_threshold": 0.2,
+                    "stall_release_ticks": 100,
+                    "stall_release_factor": 5.0,
+                    "motiongen_distance_threshold": 0.05,
+                    "timeout_steps": 3000,
+                    "timeout_done_tolerance": 0.06,
+                    "debug": false,
+                    "debug_viz": false,
+                    "debug_sphere": false,
+                    "reactive": false,
+                    "base_pos_threshold": 0.12,
+                    "base_rot_threshold": 0.5,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.3,
+                    "waypoint_max_steps": 8,
+                    "interp_steps": 480,
+                    "interp_validate_target": true,
+                    "stall_release_final_factor": 10.0
+                },
+                "ParallelGripper": {
+                    "gripper_threshold": 0.0005,
+                    "timeout_steps": 60
+                }
+            },
+            "atomic_skill": {
+                "NavToPose": {
+                    "robot_id": 0,
+                    "position_threshold": 0.2,
+                    "angle_threshold": 0.3,
+                    "trim": false
+                },
+                "Move": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "arm_planner": "MobileMoveL",
+                    "hand_planner": "ParallelGripper",
+                    "ramp_steps": 0,
+                    "hold_steps": 60,
+                    "open_value": 0.0,
+                    "close_value": 1.0
+                }
+            },
+            "auto_collect": {
+                "task_type": "ladle",
+                "max_trajectories": 1
+            },
+            "record": {
+                "output_dir": "/mnt/scratch/xc536_atomic/n011_go2_off_1040/out",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            }
+        },
+        "visual_dr": {
+            "keep": [
+                "Water"
+            ]
+        }
+    },
+    "git_sha": null,
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}

N011/go2_arm/dr_off/seed_1040/ladle/000/sim_info/0/actions.npz

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+oid sha256:3225800e26dc1ef393a210e4ecec444807331209c90dae73bac542a142f2398f
+size 2322683

N011/go2_arm/dr_off/seed_1040/ladle/000/sim_info/0/sim_states.npz

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+version https://git-lfs.github.com/spec/v1
+oid sha256:a23fc74d5b70a90c60a1dc7c07e6cee6b602e1765596fd3188c4db2895598a28
+size 1034126202

N011/go2_arm/dr_off/seed_1040/ladle/000/sim_info/magicsim_manifest.json

@@ -0,0 +1,259 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-09 05:57:27"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "Go2Plus",
+                "cfg": "Go2PlusCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 12,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "Go2Plus.base_action",
+                "start": 0,
+                "end": 4,
+                "names": [
+                    "base_action_0",
+                    "base_action_1",
+                    "base_action_2",
+                    "base_action_3"
+                ],
+                "source": "Go2UnifiedLocomotionAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "Go2Plus.arm_action",
+                "start": 4,
+                "end": 11,
+                "names": [
+                    "eef0.pos_x",
+                    "eef0.pos_y",
+                    "eef0.pos_z",
+                    "eef0.quat_w",
+                    "eef0.quat_x",
+                    "eef0.quat_y",
+                    "eef0.quat_z"
+                ],
+                "source": "Go2PlusCuroboIKAction",
+                "names_source": "pose_layout"
+            },
+            {
+                "name": "Go2Plus.eef_action",
+                "start": 11,
+                "end": 12,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 26,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_pos",
+                "start": 0,
+                "end": 24,
+                "names": [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11",
+                    "joint_12",
+                    "joint_13",
+                    "joint_14",
+                    "joint_15",
+                    "joint_16",
+                    "joint_17",
+                    "joint_18",
+                    "joint_19",
+                    "joint_20",
+                    "joint_21",
+                    "joint_22",
+                    "joint_23"
+                ],
+                "source": "ObservationManager",
+                "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)"
+            },
+            {
+                "name": "Go2Plus.gripper_pos",
+                "start": 24,
+                "end": 26,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 20,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_vel",
+                "start": 0,
+                "end": 20,
+                "names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
+                "K": [
+                    [
+                        607.7061061683956,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        607.3754374751866,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 55.53991912549515,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.33205100893974304,
+                0.038026999682188034,
+                0.09355899691581726
+            ],
+            "quat": [
+                -0.5022302269935608,
+                -0.499491810798645,
+                0.5120040774345398,
+                0.4859265089035034
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        617.2500342478374,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        617.548655622722,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 54.807019583348044,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                -0.0749870017170906,
+                0.005288999993354082,
+                0.04582099989056587
+            ],
+            "quat": [
+                0.1271296590566635,
+                0.701795220375061,
+                -0.6904057860374451,
+                -0.12108422070741653
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "ladle/000",
+        "task_type": "Ladle"
+    }
+}

N011/stretch3/dr_off/seed_1029/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'; expected 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "4228 rows vs ceil(8456/2) = 4228"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 241..8695, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "112.00 MB, 4228 frames at 25 fps, mean luma 98..144, std 12, new picture 4227x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "4228 vs 4228"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "107.19 MB, 4228 frames at 25 fps, mean luma 107..147, std 29, new picture 4227x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "4228 vs 4228"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "ladle/000/sim_info"
+  }
+ }
+}

N011/stretch3/dr_off/seed_1029/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n011_str_off_1029/out  task=N011  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n011_str_off_1029/out/ladle/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 4228  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: 4228 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']
+[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'; expected 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'
+rows 4228 at dataset fps 25 = 169.12 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 4228 rows vs ceil(8456/2) = 4228
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 241..8695, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 112.00 MB, 4228 frames at 25 fps, mean luma 98..144, std 12, new picture 4227x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 4228 vs 4228
+[PASS] video observation.images.wrist decodes, 640x480, not black: 107.19 MB, 4228 frames at 25 fps, mean luma 107..147, std 29, new picture 4227x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 4228 vs 4228
+parquet size 414.25 MB
+[PASS] sim_info present: ladle/000/sim_info
+dataset size 639.59 MB; whole cell dir 1323.7 MB
+RESULT: ALL PASS

N011/stretch3/dr_off/seed_1029/config.yaml

@@ -0,0 +1,727 @@
+env_string: LadleEnv-V0
+env:
+  sim:
+    device: cpu
+    use_fabric: false
+    decimation: 4
+    dt: 0.005
+    seed: 1029
+    soft_resets: 1000000
+    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
+  robot:
+    HelloRobot:
+      name: hellorobot
+      type: mobilemanip
+      common:
+        pos:
+        - - -2.9511636410771063
+          - -1.5725004147093606
+          - 0.06
+        - - -2.9511636410771063
+          - -1.5725004147093606
+          - 0.06
+        ori:
+        - - 0
+          - 0
+          - -114.99999999999997
+        - - 0
+          - 0
+          - -114.99999999999997
+        initial_joint_pos:
+          joint_lift: 0.55
+          joint_arm_l[0-3]: 0.025
+          joint_wrist_yaw: 0.0
+          joint_wrist_roll: 1.5707963267948966
+      action:
+        base_action: differential_virtual
+        arm_action: ik_abs
+        eef_action: binary
+      planner:
+        dual_mode: true
+        base_joint_names:
+        - dummy_base_prismatic_x_joint
+        - dummy_base_prismatic_y_joint
+        - dummy_base_revolute_z_joint
+        obstacle_ignore_categories: []
+        ik:
+          type: hellorobot
+          enable: true
+          ik_num_instances: 1
+          ik_batch_size: 1
+          ik_num_seeds: 32
+          ik_max_goalset: 1
+          ik_position_threshold: 0.003
+          ik_rotation_threshold: 0.02
+          microbatch_wait_ms: 1.0
+          seed_use_live_joint_pos: true
+        motiongen:
+          type: hellorobot
+          enable: true
+          motiongen_num_instances: 1
+          batch_size: 1
+          microbatch_wait_ms: 1.0
+          seed_use_live_joint_pos: true
+          mode: position
+          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: 0.4
+            max_steer_rate: 1.5
+            max_accel_vx: 0.4
+            max_accel_vy: 0.4
+            max_yaw_accel: 1.5
+            w_goal: 6.0
+            w_path: 8.0
+            w_vel: 0.2
+            w_vy: 0.0
+            dilate_radius: 0.4
+            room_size: 12.0
+            occupancy_update_interval: 50
+            scan_height: 0.45
+            scan_min_z: 0.22
+            scan_max_z: 1.75
+            goal_pos_threshold: 0.07
+            goal_yaw_threshold: 0.15
+            kp_goal_yaw: 1.5
+            min_speed: -0.2
+            max_speed: 0.2
+            w_heading: 0.5
+            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
+            own_body_clear: true
+            own_body_radius: 0.15
+          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: 0.008
+            nav_heading_target: 1
+            velocity_frame: world
+        arm:
+          type: default
+        eef:
+          type: default
+      physics:
+        robot_radius: 0.4
+        wheel_base: 0.5
+      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
+  scene:
+    terrain:
+      type: nav_room
+      collision: true
+      hide_top_walls: true
+      usd:
+      - $MAGICSIM_ASSETS/Room/Collected_SimpleRoom
+      annotation: Annotation
+      random: false
+      pos:
+      - 0.0
+      - 0.0
+      - 0.0
+      ori:
+      - 0.0
+      - 0.0
+      - 0.0
+      scale:
+      - 1.0
+      - 1.0
+      - 1.0
+      physics_material:
+        static_friction: 1.0
+        dynamic_friction: 1.0
+        restitution: 0.0
+        friction_combine_mode: multiply
+        restitution_combine_mode: multiply
+    background:
+      intensity:
+      - 1000
+      - 1000
+    light:
+      light_1:
+        types:
+        - Dome
+        common:
+          pos:
+          - 0.0
+          - 0.0
+          - 0.0
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          color_temperature_range:
+          - 6500
+          - 6500
+          color_range:
+          - - 1.0
+            - 1.0
+            - 1.0
+          - - 1.0
+            - 1.0
+            - 1.0
+        Dome:
+          intensity_range:
+          - 843.5231304833694
+          - 843.5231304833694
+    water:
+      max_particles: 9000
+      particle:
+        fluid_rest_offset: 0.0027
+        ccd: true
+      look:
+        mode: spheres
+        color:
+        - 0.05
+        - 0.45
+        - 1.0
+        bead_scale: 1.5
+      retire:
+        floor_ttl: 3600.0
+        max_age: 7200.0
+        radius: 30.0
+        below: -2.0
+    objects:
+      table_a:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        table_a_1:
+          pos:
+          - -1.0
+          - 3.2
+          - 0.30500000000000005
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 1.5
+          - 0.6
+          - 0.55
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.35
+              - 0.37
+              - 0.4
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.8204309697504875
+              dynamic_friction: 0.6153232273128655
+              restitution: 0.0
+      table_b:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        table_b_1:
+          pos:
+          - 2.6
+          - 0.4
+          - 0.30500000000000005
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.7
+          - 1.0
+          - 0.55
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.35
+              - 0.37
+              - 0.4
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.8797911380798719
+              dynamic_friction: 0.6598433535599039
+              restitution: 0.0
+      ladle:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Ladle/Object.usda
+        num_per_env: 1
+        random: false
+        ladle_1:
+          pos:
+          - -1.3557830748750357
+          - 3.124442433865105
+          - 0.7410000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 91.1825719079016
+          physics:
+            type: rigid
+            mass: 0.04516469633280568
+            physics_material:
+              static_friction: 1.5306304885461157
+              dynamic_friction: 1.339301677477851
+              restitution: 0.0
+          water: {}
+      rack_a0:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        rack_a0_1:
+          pos:
+          - -1.35
+          - 3.205
+          - 0.655
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.1
+          - 0.06999999999999999
+          - 0.15000000000000002
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.45
+              - 0.3
+              - 0.18
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.7234416977085001
+              dynamic_friction: 0.5425812732813751
+              restitution: 0.0
+      basin:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Basin/Object.usda
+        num_per_env: 1
+        random: false
+        basin_1:
+          pos:
+          - -0.55
+          - 3.2
+          - 0.5950000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.7668053468508431
+              dynamic_friction: 0.5751040101381323
+              restitution: 0.0
+          water: {}
+      cup:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/ReceivingCup/Object.usda
+        num_per_env: 1
+        random: false
+        cup_1:
+          pos:
+          - 2.4012785558609684
+          - 0.4066839865543677
+          - 0.5810000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          physics:
+            type: rigid
+            mass: 0.2035115678394256
+            physics_material:
+              static_friction: 0.762641769014205
+              dynamic_friction: 0.5719813267606537
+              restitution: 0.0
+          water: {}
+  nav:
+    navmesh:
+      enabled: true
+      visualize: false
+      bake_timeout_s: 120
+      agent_height_cm: 170
+      min_agent_radius_cm: 55.0
+      max_agent_radius_cm: 55.0
+      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: true
+    occupancymap:
+      cell_size: 0.05
+task:
+  observation: {}
+  reward: {}
+  termination:
+    timeout_steps: 24000
+    success_hold_frames: 1
+  mmb:
+    task_id: N011
+    agent_id: a03
+    embodiment: stretch3
+    level: easy
+    scene_seed: 1029
+    layout:
+      S:
+      - -2.9511636410771063
+      - -1.5725004147093606
+      - -2.0071286397934784
+      tables:
+        A:
+          center:
+          - -1.0
+          - 3.2
+          size:
+          - 1.5
+          - 0.6
+          top: 0.5800000000000001
+          color:
+          - 0.35
+          - 0.37
+          - 0.4
+        B:
+          center:
+          - 2.6
+          - 0.4
+          size:
+          - 0.7
+          - 1.0
+          top: 0.5800000000000001
+          color:
+          - 0.35
+          - 0.37
+          - 0.4
+      stations:
+        A:
+          table: A
+          work_point:
+          - -1.35
+          - 3.12
+          arm_dir:
+          - 0.0
+          - 1.0
+          reach: 0.9
+          fwd: -0.021
+          stand:
+          - -1.371
+          - 2.22
+          - -3.141592653589793
+        B:
+          table: B
+          work_point:
+          - 2.38
+          - 0.4
+          arm_dir:
+          - 1.0
+          - 0.0
+          reach: 0.63
+          fwd: -0.021
+          stand:
+          - 1.75
+          - 0.42100000000000004
+          - 1.5707963267948966
+    hold_ticks: 40
+    grace_ticks: 400
+    water_settle_ticks: 150
+    object_settle_ticks: 60
+    planning:
+      avoid:
+      - dynamic
+      ignore:
+      - ladle
+      - water
+    water:
+      max_particles: 9000
+    basin:
+      center:
+      - -0.55
+      - 3.2
+      floor_z: 0.5950000000000001
+      water_depth: 0.1
+      inner:
+      - 0.12
+      - 0.11
+      - 0.12
+      a2_stand:
+      - -0.559
+      - 2.325
+      - -3.141592653589793
+    cup:
+      center:
+      - 2.4012785558609684
+      - 0.4066839865543677
+      rim_above_table: 0.075
+    success:
+      min_deliver_ml: 20.0
+      max_spill_ml: 15.0
+      min_carry_frac: 0.5
+      max_base_speed_at_pour: 0.05
+    tool:
+      category: ladle
+      asset: Ladle
+      plate_z: 0.7400000000000001
+    view:
+      eye:
+      - 2.9299999999999997
+      - -0.15000000000000002
+      - 0.9800000000000001
+      target:
+      - 2.33
+      - 0.4
+      - 0.68
+    dr:
+      seed: 1029
+      spawn_dxy:
+      - 0.049
+      - 0.227
+      friction_scale:
+        basin_1: 0.959
+        cup_1: 0.953
+        ladle_1: 0.957
+        rack_a0_1: 0.904
+        table_a_1: 1.026
+        table_b_1: 1.1
+      moved:
+        ladle_1:
+        - -0.0058
+        - 0.0044
+        - 1.18
+        cup_1:
+        - 0.0213
+        - 0.0067
+      light_scale: 0.937
+collect:
+  command:
+    Ladle:
+      stage_retries: 2
+      robot_id: 0
+      init_limit: 30
+      max_attempt: 1
+      completion_timeout_steps: 3600
+      pre_back: 0.12
+      lift: 0.22
+      carry:
+        lateral: 0.6
+        forward: 0.0
+        z: 0.95
+      dip:
+        above: 0.12
+        clear_bottom: 0.006
+        rim_under: 0.012
+        tilt_deg: 35.0
+        fill_ticks: 60
+        dwell_ticks: 90
+        rise: 0.2
+      pour:
+        clearance: 0.06
+        aim: -0.04
+        pre_pitch_deg: 35.0
+        pre_pitch_variants:
+        - 0.0
+        - 5.0
+        - 10.0
+        pitch_deg:
+        - 55.0
+        - 80.0
+        lip_drift: 0.03
+        reach_margin: 0.015
+        hold_ticks: 240
+        stop_ticks: 90
+        drain:
+          pitch_deg: 60.0
+          aim: 0.0
+          hold_ticks: 90
+      modes:
+        pre_grasp: -1
+        grasp: 4
+        lift: 4
+        carry: -1
+        pre_dip: -1
+        dip: 4
+        level: 4
+        trim: 4
+        rise: 4
+        pre_pour: -1
+        tilt: -1
+        retreat: 4
+  global_planner:
+    NavTo:
+      use_navmesh: true
+      use_absolute: true
+      translation_threshold: 0.15
+      rotation_threshold: 3.3
+      num_path_segments: 30
+      start_forward_offset: 0.0
+      visualize_path: false
+      carry_arm: true
+    NavToTrim:
+      use_navmesh: false
+      carry_arm: true
+      visualize_path: false
+      trim_pos_threshold: 0.01
+      trim_yaw_threshold: 0.015
+      max_steps: 1500
+    MobileMoveL:
+      translation_threshold: 0.008
+      rotation_threshold: 0.08
+      stall_release_ticks: 80
+      stall_release_factor: 2.5
+      motiongen_distance_threshold: 0.0
+      timeout_steps: 900
+      debug: false
+      debug_viz: false
+      debug_sphere: false
+      reactive: false
+      base_pos_threshold: 0.025
+      base_rot_threshold: 0.05
+      eef_pos_threshold: 0.03
+      eef_rot_threshold: 0.1
+      waypoint_max_steps: 30
+      interp_steps: 120
+    ParallelGripper:
+      gripper_threshold: 0.001
+  atomic_skill:
+    NavToPose:
+      robot_id: 0
+      position_threshold: 0.15
+      angle_threshold: 3.3
+      trim: true
+    Move:
+      robot_id: 0
+      hand_id: 0
+      arm_planner: MobileMoveL
+      hand_planner: ParallelGripper
+      ramp_steps: 0
+      hold_steps: 60
+      open_value: 0.0
+      close_value: 1.0
+  auto_collect:
+    task_type: ladle
+    max_trajectories: 1
+  record:
+    output_dir: /mnt/scratch/xc536_atomic/n011_str_off_1029/out
+    formats:
+    - lerobot_v21
+    - sim_info
+    clear_buffer_on_failure: true
+    lerobot:
+      subsample_every: 2
+visual_dr:
+  keep:
+  - Water

N011/stretch3/dr_off/seed_1029/ladle/000/completed/0.json

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

N011/stretch3/dr_off/seed_1029/ladle/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf8ef5c00adc7c2fbba3bdf03ed32310f0c964fa22f26dd8947273a2ef55972c
+size 414247002

N011/stretch3/dr_off/seed_1029/ladle/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup."], "length": 4228, "magicsim/control_steps": 8456, "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 brown rack a0. There are a large gray table a, a large gray table b, a medium ladle, a large brown rack a0, a medium basin and a small cup. The gray table a is to the left of the brown rack a0. The gray table b is to the left of the cup. The ladle is on top of the brown rack a0. The ladle is in front of the brown rack a0. The brown rack a0 is behind the ladle. The basin is on top of the gray table a. The basin is to the left of the gray table a. The cup is on top of the gray table b. The cup is to the right of the gray table b. The scene is lit by a cool light from the back-left. The scene is viewed from back-left, slightly above table height."}

N011/stretch3/dr_off/seed_1029/ladle/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,427 @@
+{
+ "episode_index": 0,
+ "trajectory_id": 0,
+ "env_id": 0,
+ "task_type": "Ladle",
+ "subsample_every": 2,
+ "control_steps": 8456,
+ "language": {
+  "scene": {
+   "objects": [
+    {
+     "id": "table_a_1",
+     "cat_name": "table_a",
+     "inst_id": 1,
+     "noun": "table a",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      -5.149647218295992,
+      -0.2516154132087946,
+      0.2450004785624872
+     ],
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+      "extent": [
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+     "object": "cup_1"
+    },
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+     "object": "rack_a0_1"
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+    {
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+    "kind": "background",
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+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1000.0,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown rack a0. There are a large gray table a, a large gray table b, a medium ladle, a large brown rack a0, a medium basin and a small cup. The gray table a is to the left of the brown rack a0. The gray table b is to the left of the cup. The ladle is on top of the brown rack a0. The ladle is in front of the brown rack a0. The brown rack a0 is behind the ladle. The basin is on top of the gray table a. The basin is to the left of the gray table a. The cup is on top of the gray table b. The cup is to the right of the gray table b. The scene is lit by a cool light from the back-left. The scene is viewed from back-left, slightly above table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                        [robot]\n\n\n\n\n\n[[cup] b]\n                      [rack a0]\n                      [t[basin]"
+  },
+  "task": {
+   "task_type": "Ladle",
+   "instruction": "Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.",
+   "template_id": -1,
+   "slots": {
+    "obj": -3.141592653589793,
+    "support": null
+   },
+   "generic_instruction": "Ladle the -3.141592653589793.",
+   "task_id": "N011",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {}
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N011/stretch3/dr_off/seed_1029/ladle/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,259 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-09 05:48:36"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "HelloRobot",
+                "cfg": "HelloRobotCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "HelloRobot.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HelloRobotBaseAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "HelloRobot.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "arm_action_0",
+                    "arm_action_1",
+                    "arm_action_2",
+                    "arm_action_3",
+                    "arm_action_4",
+                    "arm_action_5",
+                    "arm_action_6"
+                ],
+                "source": "HelloRobotIKAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "HelloRobot.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
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+                "names": [
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+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_vel",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "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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+                1.7244702803509426e-06,
+                0.9961962699890137,
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+        }
+    },
+    "lerobot": {
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+        "video_keys": [
+            "observation.images.head",
+            "observation.images.wrist"
+        ],
+        "columns": [
+            "action",
+            "action.applied",
+            "action.command",
+            "action_is_hold",
+            "collect_info",
+            "episode_index",
+            "extra.action_info",
+            "extra.reward",
+            "frame_index",
+            "index",
+            "narration",
+            "next.done",
+            "next.truncated",
+            "observation.eef_pose",
+            "observation.environment_state",
+            "observation.images.head",
+            "observation.images.wrist",
+            "observation.joint_vel",
+            "observation.state",
+            "sim_step_idx",
+            "task_index",
+            "timestamp"
+        ]
+    },
+    "generated_run": {
+        "run_id": "ladle/000",
+        "task_type": "Ladle"
+    }
+}

N011/stretch3/dr_off/seed_1029/ladle/000/lerobot_v21/meta/tasks.jsonl

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+{"task_index": 0, "task": "Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup."}

N011/stretch3/dr_off/seed_1029/ladle/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

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N011/stretch3/dr_off/seed_1029/ladle/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

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N011/stretch3/dr_off/seed_1029/ladle/000/run_meta.json

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+{
+    "run_id": "ladle/000",
+    "created": "2026-11-09 05:22:40",
+    "num_envs": 1,
+    "session_id": null,
+    "record_config": {
+        "output_dir": "/mnt/scratch/xc536_atomic/n011_str_off_1029/out",
+        "formats": [
+            "lerobot_v21",
+            "sim_info"
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+        "clear_buffer_on_failure": true,
+        "lerobot": {
+            "subsample_every": 2
+        }
+    },
+    "config": {
+        "env_string": "LadleEnv-V0",
+        "env": {
+            "sim": {
+                "device": "cpu",
+                "use_fabric": false,
+                "decimation": 4,
+                "dt": 0.005,
+                "seed": 1029,
+                "soft_resets": 1000000,
+                "scene": {
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+                    "env_spacing": 14
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+                "render": {
+                    "rendering_mode": "performance",
+                    "enable_reflections": false,
+                    "enable_global_illumination": false,
+                    "enable_translucency": false,
+                    "enable_dl_denoiser": false
+                }
+            },
+            "robot": {
+                "HelloRobot": {
+                    "name": "hellorobot",
+                    "type": "mobilemanip",
+                    "common": {
+                        "pos": [
+                            [
+                                -2.9511636410771063,
+                                -1.5725004147093606,
+                                0.06
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+                            [
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+                        "initial_joint_pos": {
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+                            "joint_wrist_yaw": 0.0,
+                            "joint_wrist_roll": 1.5707963267948966
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+                    "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"
+                        ],
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+                        "stop_ticks": 90,
+                        "drain": {
+                            "pitch_deg": 60.0,
+                            "aim": 0.0,
+                            "hold_ticks": 90
+                        }
+                    },
+                    "modes": {
+                        "pre_grasp": -1,
+                        "grasp": 4,
+                        "lift": 4,
+                        "carry": -1,
+                        "pre_dip": -1,
+                        "dip": 4,
+                        "level": 4,
+                        "trim": 4,
+                        "rise": 4,
+                        "pre_pour": -1,
+                        "tilt": -1,
+                        "retreat": 4
+                    }
+                }
+            },
+            "global_planner": {
+                "NavTo": {
+                    "use_navmesh": true,
+                    "use_absolute": true,
+                    "translation_threshold": 0.15,
+                    "rotation_threshold": 3.3,
+                    "num_path_segments": 30,
+                    "start_forward_offset": 0.0,
+                    "visualize_path": false,
+                    "carry_arm": true
+                },
+                "NavToTrim": {
+                    "use_navmesh": false,
+                    "carry_arm": true,
+                    "visualize_path": false,
+                    "trim_pos_threshold": 0.01,
+                    "trim_yaw_threshold": 0.015,
+                    "max_steps": 1500
+                },
+                "MobileMoveL": {
+                    "translation_threshold": 0.008,
+                    "rotation_threshold": 0.08,
+                    "stall_release_ticks": 80,
+                    "stall_release_factor": 2.5,
+                    "motiongen_distance_threshold": 0.0,
+                    "timeout_steps": 900,
+                    "debug": false,
+                    "debug_viz": false,
+                    "debug_sphere": false,
+                    "reactive": false,
+                    "base_pos_threshold": 0.025,
+                    "base_rot_threshold": 0.05,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.1,
+                    "waypoint_max_steps": 30,
+                    "interp_steps": 120
+                },
+                "ParallelGripper": {
+                    "gripper_threshold": 0.001
+                }
+            },
+            "atomic_skill": {
+                "NavToPose": {
+                    "robot_id": 0,
+                    "position_threshold": 0.15,
+                    "angle_threshold": 3.3,
+                    "trim": true
+                },
+                "Move": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "arm_planner": "MobileMoveL",
+                    "hand_planner": "ParallelGripper",
+                    "ramp_steps": 0,
+                    "hold_steps": 60,
+                    "open_value": 0.0,
+                    "close_value": 1.0
+                }
+            },
+            "auto_collect": {
+                "task_type": "ladle",
+                "max_trajectories": 1
+            },
+            "record": {
+                "output_dir": "/mnt/scratch/xc536_atomic/n011_str_off_1029/out",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            }
+        },
+        "visual_dr": {
+            "keep": [
+                "Water"
+            ]
+        }
+    },
+    "git_sha": null,
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}

N011/stretch3/dr_off/seed_1029/ladle/000/sim_info/0/actions.npz

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+version https://git-lfs.github.com/spec/v1
+oid sha256:55fd863c345b1cede5e39c8ab191b5c194fe902d7e2384cd1ff5b3983fcf61a1
+size 812462

N011/stretch3/dr_off/seed_1029/ladle/000/sim_info/0/sim_states.npz

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+version https://git-lfs.github.com/spec/v1
+oid sha256:8f95db03e2fcc72004e23de1d5ff73e4a15f37c662453ddb164b09accfac3a13
+size 676837694

N011/stretch3/dr_off/seed_1029/ladle/000/sim_info/magicsim_manifest.json

@@ -0,0 +1,228 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-09 05:49:16"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "HelloRobot",
+                "cfg": "HelloRobotCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "HelloRobot.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HelloRobotBaseAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "HelloRobot.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "arm_action_0",
+                    "arm_action_1",
+                    "arm_action_2",
+                    "arm_action_3",
+                    "arm_action_4",
+                    "arm_action_5",
+                    "arm_action_6"
+                ],
+                "source": "HelloRobotIKAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "HelloRobot.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_pos",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_vel",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
+                "K": [
+                    [
+                        811.3606627541883,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        811.3606388722814,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 43.048473468183616,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.04977099969983101,
+                -0.002942000050097704,
+                1.2957229614257812
+            ],
+            "quat": [
+                -0.6254264116287231,
+                -0.3299117982387543,
+                0.32990962266921997,
+                0.6254276037216187
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        426.91786449658065,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        426.9178503597538,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 73.70742419505024,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.008999999612569809,
+                0.06293900310993195,
+                0.056398000568151474
+            ],
+            "quat": [
+                -1.5083966786733072e-07,
+                1.7244702803509426e-06,
+                0.9961962699890137,
+                0.08713743835687637
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "ladle/000",
+        "task_type": "Ladle"
+    }
+}

N011/stretch3/dr_on/seed_2027/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'; expected 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "4263 rows vs ceil(8526/2) = 4263"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 241..8765, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "105.92 MB, 4263 frames at 25 fps, mean luma 95..143, std 21, new picture 4262x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "4263 vs 4263"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "102.59 MB, 4263 frames at 25 fps, mean luma 88..122, std 28, new picture 4262x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "4263 vs 4263"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "ladle/000/sim_info"
+  }
+ }
+}

N011/stretch3/dr_on/seed_2027/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n011_str_on_2027/out  task=N011  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n011_str_on_2027/out/ladle/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 4263  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: 4263 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']
+[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'; expected 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'
+rows 4263 at dataset fps 25 = 170.52 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 4263 rows vs ceil(8526/2) = 4263
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 241..8765, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 105.92 MB, 4263 frames at 25 fps, mean luma 95..143, std 21, new picture 4262x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 4263 vs 4263
+[PASS] video observation.images.wrist decodes, 640x480, not black: 102.59 MB, 4263 frames at 25 fps, mean luma 88..122, std 28, new picture 4262x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 4263 vs 4263
+parquet size 417.75 MB
+[PASS] sim_info present: ladle/000/sim_info
+dataset size 632.41 MB; whole cell dir 1322.3 MB
+RESULT: ALL PASS