add 3 staged episodes

N026/sawyer_umi/dr_off/seed_1060/data/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square.'; expected 'Go to the tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "3170 rows vs ceil(6339/2) = 3170"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 61..6399, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "37.97 MB, 3170 frames at 25 fps, mean luma 66..147, std 33, new picture 3169x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "3170 vs 3170"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "48.40 MB, 3170 frames at 25 fps, mean luma 112..145, std 24, new picture 3169x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "3170 vs 3170"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "mobiletooltask/000/sim_info"
+  }
+ }
+}

N026/sawyer_umi/dr_off/seed_1060/data/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n026_saw_off_1060/out/data  task=N026  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n026_saw_off_1060/out/data/mobiletooltask/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 3170  videos 2  robot_type RidgebackSawyerUmiCfg
+[PASS] codebase v2.1: v2.1
+[PASS] dataset fps = 25: info.fps 25
+(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only)
+[PASS] parquet episodes: 1 files, info.total_episodes=1
+--- episode file episode_000000.parquet: 3170 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']
+[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square.'; expected 'Go to the tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square.'
+rows 3170 at dataset fps 25 = 126.80 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3170 rows vs ceil(6339/2) = 3170
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6399, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 37.97 MB, 3170 frames at 25 fps, mean luma 66..147, std 33, new picture 3169x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 3170 vs 3170
+[PASS] video observation.images.wrist decodes, 640x480, not black: 48.40 MB, 3170 frames at 25 fps, mean luma 112..145, std 24, new picture 3169x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 3170 vs 3170
+parquet size 2.30 MB
+[PASS] sim_info present: mobiletooltask/000/sim_info
+dataset size 88.73 MB; whole cell dir 90.2 MB
+RESULT: ALL PASS

N026/sawyer_umi/dr_off/seed_1060/data/mobiletooltask/000/completed/0.json

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

N026/sawyer_umi/dr_off/seed_1060/data/mobiletooltask/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c76194fe7aec7aafbcd6dba2322afa7b7932e620f7516231f56fc04eb2355da7
+size 2297688

N026/sawyer_umi/dr_off/seed_1060/data/mobiletooltask/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square."], "length": 3170, "magicsim/control_steps": 6339, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray saddle front saddle base. There are a large gray table a, a large gray table b, a large gray saddle rear saddle base, a large gray saddle front saddle base, a small hook, a large white channel floor, a large gray rail l, a large gray rail r, a large gray end wall, a large green marker and a small ring. The gray table a is to the right of the gray saddle front saddle base. The gray saddle rear saddle base is to the left of the hook. The hook is on top of the gray saddle front saddle base. The white channel floor is to the right of the ring. The gray rail l is to the left of the white channel floor. The gray rail r is to the right of the white channel floor. The gray end wall is to the left of the ring. The green marker is to the right of the white channel floor. The ring is to the left of the white channel floor. The scene is viewed from front, at table height."}

N026/sawyer_umi/dr_off/seed_1060/data/mobiletooltask/000/lerobot_v21/meta/episodes_stats.jsonl

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N026/sawyer_umi/dr_off/seed_1060/data/mobiletooltask/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,537 @@
+{
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+     "object": "saddle_front_saddle_base_1"
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+     "relation": "left_of",
+     "object": "hook_1"
+    },
+    {
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+     "relation": "on_top_of",
+     "object": "saddle_front_saddle_base_1"
+    },
+    {
+     "subject": "channel_floor_1",
+     "relation": "right_of",
+     "object": "ring_1"
+    },
+    {
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+     "relation": "left_of",
+     "object": "channel_floor_1"
+    },
+    {
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+     "relation": "right_of",
+     "object": "channel_floor_1"
+    },
+    {
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+     "relation": "left_of",
+     "object": "ring_1"
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+    {
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+     "relation": "right_of",
+     "object": "channel_floor_1"
+    },
+    {
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+     "relation": "left_of",
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+    {
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+     "viewpoint": "front, at table height",
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+   ],
+   "robots": [
+    {
+     "name": "RidgebackSawyerUmi",
+     "model": "ridgebacksawyer_umi",
+     "type": "mobilemanip",
+     "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
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+       -2.5,
+       0.06
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+      "ori": [
+       0.9257788062095642,
+       0.0,
+       0.0,
+       0.37806564569473267
+      ]
+     },
+     "facing_yaw_deg": 44.42783183573144,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1000.0,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray saddle front saddle base. There are a large gray table a, a large gray table b, a large gray saddle rear saddle base, a large gray saddle front saddle base, a small hook, a large white channel floor, a large gray rail l, a large gray rail r, a large gray end wall, a large green marker and a small ring. The gray table a is to the right of the gray saddle front saddle base. The gray saddle rear saddle base is to the left of the hook. The hook is on top of the gray saddle front saddle base. The white channel floor is to the right of the ring. The gray rail l is to the left of the white channel floor. The gray rail r is to the right of the white channel floor. The gray end wall is to the left of the ring. The green marker is to the right of the white channel floor. The ring is to the left of the white channel floor. The scene is viewed from front, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                [chan[e[m[ring]\n\n\n     [saddle fro[hook]dle base]\n\n\n\n\n[robot]"
+  },
+  "task": {
+   "task_type": "MobileToolTask",
+   "instruction": "Go to the tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square.",
+   "template_id": -1,
+   "slots": {
+    "obj": null,
+    "support": null
+   },
+   "generic_instruction": "Mobiletooltask the object.",
+   "task_id": "N026",
+   "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
+}

N026/sawyer_umi/dr_off/seed_1060/data/mobiletooltask/000/lerobot_v21/meta/info.json

@@ -0,0 +1,327 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "RidgebackSawyerUmiCfg",
+    "total_episodes": 1,
+    "total_frames": 3170,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                11
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "frame0.pos_x",
+                "frame0.pos_y",
+                "frame0.pos_z",
+                "frame0.quat_w",
+                "frame0.quat_x",
+                "frame0.quat_y",
+                "frame0.quat_z",
+                "gripper"
+            ]
+        },
+        "action_is_hold": {
+            "dtype": "bool",
+            "shape": [
+                11
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "right_j0",
+                "head_pan",
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N026/sawyer_umi/dr_off/seed_1060/data/mobiletooltask/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,264 @@
+{
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N026/sawyer_umi/dr_off/seed_1060/data/mobiletooltask/000/lerobot_v21/meta/stats.json

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+        }
+    }
+}

N026/sawyer_umi/dr_off/seed_1060/data/mobiletooltask/000/sim_info/0/sim_states.npz

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+version https://git-lfs.github.com/spec/v1
+oid sha256:155ac5089721d004fba6cd1ba0a05616e652a845f86a4b6cc66714ef0fbaee1c
+size 929295

N026/sawyer_umi/dr_off/seed_1060/data/mobiletooltask/000/sim_info/magicsim_manifest.json

@@ -0,0 +1,233 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 11:00:00"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "RidgebackSawyerUmi",
+                "cfg": "RidgebackSawyerUmiCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ]
+            }
+        ]
+    },
+    "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": "RidgebackSawyerUmi.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HolonomicAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "frame0.pos_x",
+                    "frame0.pos_y",
+                    "frame0.pos_z",
+                    "frame0.quat_w",
+                    "frame0.quat_x",
+                    "frame0.quat_y",
+                    "frame0.quat_z"
+                ],
+                "source": "PinkInverseKinematicsAction",
+                "names_source": "pink_layout"
+            },
+            {
+                "name": "RidgebackSawyerUmi.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
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+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_pos",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.gripper_pos",
+                "start": 13,
+                "end": 15,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 13,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_vel",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
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+        "wrist": {
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+    },
+    "generated_run": {
+        "run_id": "mobiletooltask/000",
+        "task_type": "MobileToolTask"
+    }
+}

N032/stretch3/dr_off/seed_1090/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: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "4153 rows vs ceil(8305/2) = 4153"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 101..8405, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "42.10 MB, 4153 frames at 25 fps, mean luma 99..156, std 13, new picture 4152x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "4153 vs 4153"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "79.88 MB, 4153 frames at 25 fps, mean luma 109..169, std 26, new picture 4152x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "4153 vs 4153"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "rec/stationpuzzlestretch/000/sim_info"
+  }
+ }
+}

N032/stretch3/dr_off/seed_1090/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n032_str_off_1090/out  task=N032  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n032_str_off_1090/out/rec/stationpuzzlestretch/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 4153  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: 4153 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: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'
+rows 4153 at dataset fps 25 = 166.12 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 4153 rows vs ceil(8305/2) = 4153
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..8405, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 42.10 MB, 4153 frames at 25 fps, mean luma 99..156, std 13, new picture 4152x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 4153 vs 4153
+[PASS] video observation.images.wrist decodes, 640x480, not black: 79.88 MB, 4153 frames at 25 fps, mean luma 109..169, std 26, new picture 4152x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 4153 vs 4153
+parquet size 7.20 MB
+[PASS] sim_info present: rec/stationpuzzlestretch/000/sim_info
+dataset size 129.38 MB; whole cell dir 132.4 MB
+RESULT: ALL PASS

N032/stretch3/dr_off/seed_1090/rec/stationpuzzlestretch/000/completed/0.json

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+{"run_id": "stationpuzzlestretch/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null}

N032/stretch3/dr_off/seed_1090/rec/stationpuzzlestretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet

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+version https://git-lfs.github.com/spec/v1
+oid sha256:9f68288bdd6234998ae39fe640b0a2dea37124052294973936f6afc4e4eb1283
+size 7200442

N032/stretch3/dr_off/seed_1090/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap."], "length": 4153, "magicsim/control_steps": 8305, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is in front of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is in front of the gray board 0. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, slightly above table height."}

N032/stretch3/dr_off/seed_1090/rec/stationpuzzlestretch/000/lerobot_v21/meta/episodes_stats.jsonl

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N032/stretch3/dr_off/seed_1090/rec/stationpuzzlestretch/000/lerobot_v21/meta/extra/episode_000000.json

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+     "noun": "Hello Robot Stretch 3 mobile manipulator",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
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+     "gripper": "parallel gripper"
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+   "lighting": [],
+   "background": {
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+    "kind": "background",
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+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1000.0,
+    "ambient": "dim"
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+   "effects": [],
+   "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is in front of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is in front of the gray board 0. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, slightly above table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n   [cand O] B]   [tile]\n\n\n                 [picture cap]\n               [picture bar] 4]\n\n\n\n[robot]"
+  },
+  "task": {
+   "task_type": "StationPuzzleStretch",
+   "instruction": "Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.",
+   "template_id": -1,
+   "slots": {
+    "obj": 3.165220818070405,
+    "support": null
+   },
+   "generic_instruction": "Stationpuzzlestretch the 3.165220818070405.",
+   "task_id": "N032",
+   "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
+}

N032/stretch3/dr_off/seed_1090/rec/stationpuzzlestretch/000/lerobot_v21/meta/info.json

@@ -0,0 +1,333 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "HelloRobotCfg",
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+}

N032/stretch3/dr_off/seed_1090/rec/stationpuzzlestretch/000/lerobot_v21/meta/magicsim_manifest.json

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+{
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N032/stretch3/dr_off/seed_1090/rec/stationpuzzlestretch/000/lerobot_v21/meta/tasks.jsonl

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N032/stretch3/dr_off/seed_1090/rec/stationpuzzlestretch/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

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N032/stretch3/dr_off/seed_1090/rec/stationpuzzlestretch/000/sim_info/0/actions.npz

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+size 1614336

N032/stretch3/dr_off/seed_1090/rec/stationpuzzlestretch/000/sim_info/0/scene_snapshot.json

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+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
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N032/stretch3/dr_off/seed_1090/rec/stationpuzzlestretch/000/sim_info/magicsim_manifest.json

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N032/stretch3/dr_off/seed_1090/report.episodes.jsonl

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N032/stretch3/dr_off/seed_1090/report.json

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+    "robot": "stretch3",
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+    "env": {
+      "MMB_COLLECT": "1",
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+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "0"
+    },
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+      "lerobot": {
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+      }
+    }
+  },
+  "review_cameras": [],
+  "policy_obs_signature": [
+    "/camera_info[0]/rgb[0]:(480, 640, 4):uint8",
+    "/camera_info[1]/rgb[0]:(480, 640, 4):uint8",
+    "/robot_state[0]/HelloRobot/base_ang_vel:(1, 3):torch.float32",
+    "/robot_state[0]/HelloRobot/base_lin_vel:(1, 3):torch.float32",
+    "/robot_state[0]/HelloRobot/base_pos:(1, 3):torch.float32",
+    "/robot_state[0]/HelloRobot/base_quat:(1, 4):torch.float32",
+    "/robot_state[0]/HelloRobot/eef_pos:(1, 3):torch.float32",
+    "/robot_state[0]/HelloRobot/eef_quat:(1, 4):torch.float32",
+    "/robot_state[0]/HelloRobot/eef_relative_pos:(1, 3):torch.float32",
+    "/robot_state[0]/HelloRobot/eef_relative_quat:(1, 4):torch.float32",
+    "/robot_state[0]/HelloRobot/joint_effort:(1, 15):torch.float32",
+    "/robot_state[0]/HelloRobot/joint_pos:(1, 15):torch.float32",
+    "/robot_state[0]/HelloRobot/joint_vel:(1, 15):torch.float32"
+  ],
+  "n_success": 1,
+  "elapsed_s": 2117.9,
+  "record_drain": {
+    "drain_ok": true,
+    "committed": 1,
+    "save_errors": {},
+    "drain_s": 63.8
+  }
+}

N034/sawyer_umi/dr_on/seed_2064/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "2138 rows vs ceil(4276/2) = 2138"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 101..4375, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "58.41 MB, 2138 frames at 25 fps, mean luma 66..95, std 33, new picture 2137x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "2138 vs 2138"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "42.39 MB, 2138 frames at 25 fps, mean luma 65..116, std 33, new picture 2137x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "2138 vs 2138"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "rec/stationbookendxr/000/sim_info"
+  }
+ }
+}

N034/sawyer_umi/dr_on/seed_2064/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n034_saw_on_2064/out  task=N034  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n034_saw_on_2064/out/rec/stationbookendxr/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 2138  videos 2  robot_type RidgebackSawyerUmiCfg
+[PASS] codebase v2.1: v2.1
+[PASS] dataset fps = 25: info.fps 25
+(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only)
+[PASS] parquet episodes: 1 files, info.total_episodes=1
+--- episode file episode_000000.parquet: 2138 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']
+[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']
+[PASS] task text = MobileBench instruction: task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'
+rows 2138 at dataset fps 25 = 85.52 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2138 rows vs ceil(4276/2) = 2138
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4375, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 58.41 MB, 2138 frames at 25 fps, mean luma 66..95, std 33, new picture 2137x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 2138 vs 2138
+[PASS] video observation.images.wrist decodes, 640x480, not black: 42.39 MB, 2138 frames at 25 fps, mean luma 65..116, std 33, new picture 2137x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 2138 vs 2138
+parquet size 2.39 MB
+[PASS] sim_info present: rec/stationbookendxr/000/sim_info
+dataset size 103.37 MB; whole cell dir 104.6 MB
+RESULT: ALL PASS

N034/sawyer_umi/dr_on/seed_2064/rec/stationbookendxr/000/completed/0.json

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+{"run_id": "stationbookendxr/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null}

N034/sawyer_umi/dr_on/seed_2064/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet

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+oid sha256:93cf7769168f30566b990ff2fca490a35b59ea62d021907d2070a980a4d308e0
+size 2393331

N034/sawyer_umi/dr_on/seed_2064/rec/stationbookendxr/000/lerobot_v21/meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 2138, "magicsim/control_steps": 4276, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot left. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height."}

N034/sawyer_umi/dr_on/seed_2064/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl

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N034/sawyer_umi/dr_on/seed_2064/rec/stationbookendxr/000/lerobot_v21/meta/extra/episode_000000.json

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+    },
+    {
+     "id": "table_B_1",
+     "cat_name": "table_B",
+     "inst_id": 1,
+     "noun": "table B",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
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+     }
+    },
+    {
+     "id": "slot_left_1",
+     "cat_name": "slot_left",
+     "inst_id": 1,
+     "noun": "slot left",
+     "color": "brown",
+     "size": "small",
+     "material": null,
+     "category": "geometry",
+     "pos": [
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+       -1.0408340855860843e-17,
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+      ]
+     }
+    },
+    {
+     "id": "slot_right_1",
+     "cat_name": "slot_right",
+     "inst_id": 1,
+     "noun": "slot right",
+     "color": "brown",
+     "size": "small",
+     "material": null,
+     "category": "geometry",
+     "pos": [
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+       6.938893903907228e-18,
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+     }
+    },
+    {
+     "id": "book_1",
+     "cat_name": "book",
+     "inst_id": 1,
+     "noun": "book",
+     "color": "red",
+     "size": "small",
+     "material": null,
+     "category": "rigid",
+     "pos": [
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+       1.5612511283791264e-17,
+       2.7755575615628914e-17
+      ]
+     }
+    },
+    {
+     "id": "plate_1",
+     "cat_name": "plate",
+     "inst_id": 1,
+     "noun": "plate",
+     "color": "gray",
+     "size": "small",
+     "material": null,
+     "category": "geometry",
+     "pos": [
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+      -0.028134351494009998,
+      0.3204998601657816
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+     "bbox": {
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+       -2.220446049250313e-16,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "bookend_1",
+     "cat_name": "bookend",
+     "inst_id": 1,
+     "noun": "bookend",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "rigid",
+     "pos": [
+      7.730848134360605,
+      -0.09815975269843012,
+      0.27999987116859026
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+     "bbox": {
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+      "center": [
+       -7.09999073422729e-11,
+       -0.029999998511152513,
+       0.029999999569728958
+      ]
+     }
+    }
+   ],
+   "relations": [
+    {
+     "subject": "table_A_1",
+     "relation": "left_of",
+     "object": "slot_left_1"
+    },
+    {
+     "subject": "table_B_1",
+     "relation": "left_of",
+     "object": "bookend_1"
+    },
+    {
+     "subject": "book_1",
+     "relation": "on_top_of",
+     "object": "slot_left_1"
+    },
+    {
+     "subject": "plate_1",
+     "relation": "left_of",
+     "object": "bookend_1"
+    },
+    {
+     "subject": "bookend_1",
+     "relation": "right_of",
+     "object": "plate_1"
+    }
+   ],
+   "cameras": [
+    {
+     "name": "head",
+     "intrinsics": {
+      "K": [
+       [
+        355.55555555555554,
+        0.0,
+        320.0
+       ],
+       [
+        0.0,
+        355.55555555555554,
+        240.0
+       ],
+       [
+        0.0,
+        0.0,
+        1.0
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+      "fov_h_deg": 83.97442499163331,
+      "resolution": [
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+       480
+      ]
+     },
+     "pos_robot": [
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+      -0.821602085847542,
+      -0.09500009294277031
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+     "viewpoint": "front, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        -8.039232568535226e-08,
+        -0.9999999999999964,
+        2.5347603738179458e-08
+       ],
+       [
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+        -8.039232568535226e-08,
+        -0.5735764522919431
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+       [
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+        -2.5347603738179458e-08,
+        0.819152033127055
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+      ],
+      "t": [
+       1.855362002599171e-08,
+       -0.2032392724571752,
+       -0.08737481710326404
+      ]
+     }
+    },
+    {
+     "name": "wrist",
+     "intrinsics": {
+      "K": [
+       [
+        320.0,
+        0.0,
+        320.0
+       ],
+       [
+        0.0,
+        320.0,
+        240.0
+       ],
+       [
+        0.0,
+        0.0,
+        1.0
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+      ],
+      "fov_h_deg": 90.0,
+      "resolution": [
+       640,
+       480
+      ]
+     },
+     "pos_robot": [
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+      -0.7134500280050372,
+      -0.020000088793038943
+     ],
+     "viewpoint": "front, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        0.0,
+        1.0,
+        -1.4782795217992896e-16
+       ],
+       [
+        1.0,
+        0.0,
+        2.5363269588459423e-17
+       ],
+       [
+        2.5363269588459423e-17,
+        -1.4782795217992896e-16,
+        -1.0
+       ]
+      ],
+      "t": [
+       4.4348384662715026e-18,
+       -0.05979999899864197,
+       0.029999999329447746
+      ]
+     }
+    }
+   ],
+   "robots": [
+    {
+     "name": "RidgebackSawyerUmi",
+     "model": "ridgebacksawyer_umi",
+     "type": "mobilemanip",
+     "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
+       -3.4,
+       -2.2,
+       0.05
+      ],
+      "ori": [
+       0.9396926164627075,
+       0.0,
+       0.0,
+       0.3420201539993286
+      ]
+     },
+     "facing_yaw_deg": 40.000001288448495,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1000.0,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot left. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n[ta[plat[bookend]\n\n\n\n                   [slot [book]\n\n\n\n [robot]"
+  },
+  "task": {
+   "task_type": "StationBookendXR",
+   "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5890277377913735,
+    "support": null
+   },
+   "generic_instruction": "Stationbookendxr the 1.5890277377913735.",
+   "task_id": "N034",
+   "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
+}