add N009/sawyer_umi/dr_off/seed_5021

N009/sawyer_umi/dr_off/seed_5021/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 stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'; expected 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "2168 rows vs ceil(4336/2) = 2168"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 101..4435, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "23.17 MB, 2168 frames at 25 fps, mean luma 117..150, std 20, new picture 2167x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "2168 vs 2168"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "40.87 MB, 2168 frames at 25 fps, mean luma 101..151, std 34, new picture 2167x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "2168 vs 2168"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "record/stationlayer/000/sim_info"
+  }
+ }
+}

N009/sawyer_umi/dr_off/seed_5021/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/sz850_atomic/n009_saw_off_5021/out  task=N009  at verify_collect_dataset.py
+dataset root /mnt/scratch/sz850_atomic/n009_saw_off_5021/out/record/stationlayer/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 2168  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: 2168 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 stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'; expected 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'
+rows 2168 at dataset fps 25 = 86.72 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2168 rows vs ceil(4336/2) = 2168
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4435, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 23.17 MB, 2168 frames at 25 fps, mean luma 117..150, std 20, new picture 2167x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 2168 vs 2168
+[PASS] video observation.images.wrist decodes, 640x480, not black: 40.87 MB, 2168 frames at 25 fps, mean luma 101..151, std 34, new picture 2167x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 2168 vs 2168
+parquet size 52.61 MB
+[PASS] sim_info present: record/stationlayer/000/sim_info
+dataset size 119.06 MB; whole cell dir 172.2 MB
+RESULT: ALL PASS

N009/sawyer_umi/dr_off/seed_5021/config.yaml

@@ -0,0 +1,567 @@
+env:
+  sim:
+    device: cpu
+    use_fabric: false
+    decimation: 4
+    dt: 0.005
+    soft_resets: 2
+    scene:
+      num_envs: 1
+      env_spacing: 20
+    render:
+      rendering_mode: performance
+      enable_reflections: false
+      enable_global_illumination: false
+      enable_translucency: false
+      enable_dl_denoiser: false
+    physx:
+      gpu_collision_stack_size: 33554432
+      gpu_heap_capacity: 268435456
+    seed: 5021
+  robot:
+    RidgebackSawyerUmi:
+      name: ridgebacksawyer_umi
+      type: mobilemanip
+      common:
+        pos:
+        - - -3.5
+          - -2.3
+          - 0.05
+        - - -2.9000000000000004
+          - -1.7
+          - 0.05
+        ori:
+        - - 0.0
+          - 0.0
+          - -20.0
+        - - 0.0
+          - 0.0
+          - 20.0
+        initial_joint_pos:
+          dummy_base_.*: 0.0
+          head_pan: 0.0
+          right_j0: 0.0
+          right_j1: -1.6
+          right_j2: 0.0
+          right_j3: 0.5
+          right_j4: 0.0
+          right_j5: -2.32
+          right_j6: 0.0
+          right_gripper_l_finger_joint: 0.0
+          right_gripper_r_finger_joint: 0.0
+      action:
+        base_action: holonomic_action
+        arm_action: ik_pink
+        eef_action: binary
+      planner:
+        dual_mode: true
+        base_joint_names:
+        - dummy_base_prismatic_x_joint
+        - dummy_base_prismatic_y_joint
+        - dummy_base_revolute_z_joint
+        ik:
+          type: ridgebacksawyer_umi
+          model_tuning: ridgeback_sawyer_umi
+          enable: true
+          ik_num_instances: 1
+          ik_batch_size: 1
+          ik_num_seeds: 32
+          ik_position_threshold: 0.005
+          ik_rotation_threshold: 0.05
+          microbatch_wait_ms: 20.0
+          relative_to_world_frame: false
+        motiongen:
+          type: ridgebacksawyer_umi
+          model_tuning: ridgeback_sawyer_umi
+          enable: true
+          motiongen_num_instances: 1
+          batch_size: 1
+          microbatch_wait_ms: 20.0
+          mode: position
+          relative_to_world_frame: false
+          start_state_limit_inset: 0.002
+          num_trajopt_seeds: 1
+          num_ik_seeds: 4
+        body:
+          type: nav
+          dwb_type: dwb_holonomic
+          dwb_holonomic:
+            device: cpu
+            dt: 0.02
+            debug: false
+            num_rollout_steps: 60
+            num_speed_samples: 11
+            num_steer_samples: 11
+            num_vx_samples: 7
+            num_vy_samples: 7
+            num_yaw_samples: 7
+            max_accel: 1.5
+            max_steer_rate: 1.5
+            max_accel_vx: 1.5
+            max_accel_vy: 1.5
+            max_yaw_accel: 1.5
+            w_goal: 6.0
+            w_path: 8.0
+            w_vel: 0.2
+            w_vy: 0.0
+            goal_cost_mode: path
+            dilate_radius: 0.36
+            room_size: 12.0
+            occupancy_update_interval: 25
+            scan_height: 0.35
+            scan_min_z: 0.12
+            scan_max_z: 1.65
+            goal_pos_threshold: 0.05
+            goal_yaw_threshold: 0.05
+            kp_goal_yaw: 1.5
+            heading_reference: path
+            turn_yaw_threshold: 0.8
+            heading_lookahead: 0.8
+            heading_min_leg: 0.35
+            route_yaw_gain: 2.0
+            goal_yaw_hysteresis: 0.02
+            min_vx: -0.3
+            max_vx: 0.3
+            min_vy: -0.3
+            max_vy: 0.3
+            min_yaw_rate: -0.8
+            max_yaw_rate: 0.8
+            safety_enabled: true
+            safety_deceleration: 0.5
+            safety_reaction_time: 0.5
+            scan_type: 3d
+          p_controller:
+            kp_angular_turning_only: 2.0
+            kd_angular_turning_only: 1.0
+            kp_linear_x: 3.0
+            kp_linear_y: 3.0
+            kp_angular: 2.0
+            kd_linear_x: 1.0
+            kd_linear_y: 1.0
+            min_vel: -0.4
+            max_vel: 0.5
+            linear_dead_zone: 0.01
+            angular_dead_zone: 0.05
+            nav_heading_target: -1
+            nav_upgrade_distance: 0.03
+        arm:
+          type: default
+        eef:
+          type: default
+      physics:
+        robot_radius: 0.66
+        wheel_base: 0.01
+      reset: default
+  camera:
+    enable_tiled: false
+    colorize_depth: false
+    head:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 2.0
+        horizontal_aperture: 3.6
+        vertical_aperture: 2.7
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/head
+        pos:
+        - 0.2166
+        - 0.0
+        - -0.045
+        ori:
+        - -0.0
+        - 35.0
+        - -90.0
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+    wrist:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.8
+        horizontal_aperture: 3.6
+        vertical_aperture: 2.7
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/right_electric_gripper_base
+        pos:
+        - 0.0598
+        - 0.0
+        - 0.03
+        ori:
+        - 180.0
+        - 0.0
+        - -90.0
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+  nav:
+    navmesh:
+      enabled: true
+      visualize: false
+      bake_timeout_s: 180
+      agent_height_cm: 150
+      min_agent_radius_cm: 45.0
+      max_agent_radius_cm: 45.0
+      max_step_height_cm: 20
+      max_floor_slope_deg: 30
+      agent_island_radius_cm: 5
+      auto_exclude_rigid_bodies: true
+      validate_path_clearance: true
+      validate_path_window: true
+      navmesh_offset_z_m: 0
+      verbose: false
+    occupancymap:
+      cell_size: 0.05
+  scene:
+    terrain:
+      type: nav_room
+      collision: true
+      hide_top_walls: true
+      usd:
+      - $MAGICSIM_ASSETS/Room/Collected_SimpleRoom
+      annotation: Annotation
+      random: false
+      pos:
+      - 0.0
+      - 0.0
+      - 0.0
+      ori:
+      - 0.0
+      - 0.0
+      - 0.0
+      scale:
+      - 1.0
+      - 1.0
+      - 1.0
+      physics_material:
+        static_friction: 1.0
+        dynamic_friction: 1.0
+        restitution: 0.0
+        friction_combine_mode: multiply
+        restitution_combine_mode: multiply
+    background:
+      intensity:
+      - 1000
+      - 1000
+    objects:
+      table_a:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 1.2
+          - -1.8
+          - 0.28
+          ori:
+          - 0
+          - 0
+          - 0
+          scale:
+          - 0.6
+          - 0.9
+          - 0.5
+        table_a_1:
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - 0.55
+            - 0.42
+            - 0.3
+          physics:
+            type: geometry
+            collision: true
+      table_b:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 2.2
+          - 2.0
+          - 0.28
+          ori:
+          - 0
+          - 0
+          - 0
+          scale:
+          - 0.9
+          - 0.6
+          - 0.5
+        table_b_1:
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - 0.55
+            - 0.42
+            - 0.3
+          physics:
+            type: geometry
+            collision: true
+      layer_bottom:
+        usd:
+        - $MAGICSIM_ASSETS/Object/DeformableProxy/towel_sheet.usd
+        random: false
+        num_per_env: 1
+        common:
+          scale:
+          - 0.8571428571428572
+          - 1.0
+          - 0.5
+        layer_bottom_1:
+          pos:
+          - 1.2
+          - -1.8
+          - 0.536
+          ori:
+          - 90.0
+          - 0.0
+          - 0.0
+          visual:
+            color:
+            - - 0.2
+              - 0.45
+              - 0.85
+          physics:
+            type: garment
+            ratio: 1.0
+            particle_system:
+              particle_system_enabled: true
+              enable_ccd: true
+              solver_position_iteration_count: 32
+              global_self_collision_enabled: true
+              non_particle_collision_enabled: true
+              contact_offset: 0.012
+              rest_offset: 0.01
+              particle_contact_offset: 0.005
+              fluid_rest_offset: 0.0025
+              solid_rest_offset: 0.0025
+              max_velocity: 5.0
+            particle_material:
+              adhesion: 0.1
+              particle_adhesion_scale: 0.2
+              particle_friction_scale: 0.6
+              friction: 1.0
+              damping: 0.05
+              gravity_scale: 1.0
+            garment_config:
+              particle_mass: 0.001
+              self_collision: true
+              self_collision_filter: true
+              stretch_stiffness: 100000000.0
+              bend_stiffness: 5000.0
+              shear_stiffness: 5000.0
+              spring_damping: 10.0
+      layer_top:
+        usd:
+        - $MAGICSIM_ASSETS/Object/DeformableProxy/towel_sheet.usd
+        random: false
+        num_per_env: 1
+        common:
+          scale:
+          - 0.8571428571428572
+          - 1.0
+          - 0.5
+        layer_top_1:
+          pos:
+          - 1.14
+          - -1.8
+          - 0.55
+          ori:
+          - 90.0
+          - 0.0
+          - 0.0
+          visual:
+            color:
+            - - 0.95
+              - 0.55
+              - 0.15
+          physics:
+            type: garment
+            ratio: 1.0
+            particle_system:
+              particle_system_enabled: true
+              enable_ccd: true
+              solver_position_iteration_count: 32
+              global_self_collision_enabled: true
+              non_particle_collision_enabled: true
+              contact_offset: 0.012
+              rest_offset: 0.01
+              particle_contact_offset: 0.005
+              fluid_rest_offset: 0.0025
+              solid_rest_offset: 0.0025
+              max_velocity: 5.0
+            particle_material:
+              adhesion: 0.1
+              particle_adhesion_scale: 0.2
+              particle_friction_scale: 0.6
+              friction: 1.0
+              damping: 0.05
+              gravity_scale: 1.0
+            garment_config:
+              particle_mass: 0.001
+              self_collision: true
+              self_collision_filter: true
+              stretch_stiffness: 100000000.0
+              bend_stiffness: 5000.0
+              shear_stiffness: 5000.0
+              spring_damping: 10.0
+task:
+  observation: {}
+  reward: {}
+  termination:
+    timeout_steps: 16000
+    success_hold_frames: 3
+  station:
+    level: easy
+    agent_id: a02
+    embodiment: sawyer_umi
+    task_version: EXT60-MobileAvatar-v3
+    execution_mode: expert_collect
+    layout:
+      table_h: 0.5
+      standoff: 0.55
+    settle_ticks: 80
+    hold_ticks: 10
+    judge_timeout_ticks: 300
+    default_avoid: []
+    report_jsonl: /mnt/scratch/sz850_atomic/n009_saw_off_5021/out/reports.jsonl
+    carried:
+      type: garment
+      name: layer_top
+      id: 0
+    tracked:
+    - type: garment
+      name: layer_bottom
+      id: 0
+    cloth:
+      category: layer_top
+    layers: {}
+    planner_seeds: lean
+    cloth_variant: null
+    record_scene_streams: true
+collect:
+  global_planner:
+    NavTo:
+      use_navmesh: true
+      use_absolute: true
+      translation_threshold: 0.12
+      rotation_threshold: 0.12
+      num_path_segments: 30
+      start_forward_offset: 0.0
+      visualize_path: false
+      carry_arm: true
+    MobileMoveL:
+      translation_threshold: 0.006
+      rotation_threshold: 0.2
+      motiongen_distance_threshold: 0.05
+      timeout_steps: 1800
+      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: 20
+      interp_steps: 100
+      debug: false
+      debug_viz: false
+    RetractMoveL:
+      translation_threshold: 0.02
+      rotation_threshold: 0.2
+      motiongen_distance_threshold: 0.05
+      timeout_steps: 1800
+      base_pos_threshold: 0.12
+      base_rot_threshold: 0.5
+      eef_pos_threshold: 0.03
+      eef_rot_threshold: 0.3
+      base_waypoint_max_steps: 20
+      arm_waypoint_max_steps: 8
+      move_strategy_distance_threshold: 0.1
+      debug: false
+      debug_viz: false
+    ParallelGripper:
+      gripper_threshold: 0.0005
+      timeout_steps: 60
+  atomic_skill:
+    StationNav:
+      robot_id: 0
+      show_marker: false
+    NavToPose:
+      robot_id: 0
+      show_marker: false
+    Move:
+      arm_planner: MobileMoveL
+      hand_planner: ParallelGripper
+      obstacle_avoid_paths: []
+      obstacle_ignore_paths: []
+      close_value: 1.0
+      open_value: 0.0
+      hold_steps: 10
+    Grasp:
+      pre_grasp_offset: 0.1
+      retrieval_offset: 0.1
+      mobile: true
+      pre_grasp_planner: MobileMoveL
+      pre_grasp_mode: -1
+      grasp_mode: 4
+      retrieval_mode: 4
+      reactive: false
+      viz_grasp: false
+  auto_collect:
+    max_trajectories: null
+  record:
+    output_dir: /mnt/scratch/sz850_atomic/n009_saw_off_5021/out/record
+    formats:
+    - lerobot_v21
+    - sim_info
+    clear_buffer_on_failure: true
+    lerobot:
+      subsample_every: 2
+  command:
+    StationLayer:
+      robot_id: 0
+      init_limit: 100
+      max_attempt: 2
+      completion_timeout_steps: 300
+      direction:
+      - -1.0
+      - 0.0
+      stages:
+        release_height: 0.01
+        settle_ticks: 240
+env_string: LayerEnv-V0
+visual_dr:
+  keep:
+  - layer_top
+  - layer_bottom

N009/sawyer_umi/dr_off/seed_5021/record/stationlayer/000/completed/0.json

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

N009/sawyer_umi/dr_off/seed_5021/record/stationlayer/000/joint_names.json

@@ -0,0 +1,17 @@
+{
+ "RidgebackSawyerUmi": [
+  "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"
+ ]
+}

N009/sawyer_umi/dr_off/seed_5021/record/stationlayer/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8eb534f18c5b302556f5719e097084605fa13f284b978441a5f76fe5f2538d2d
+size 52613009

N009/sawyer_umi/dr_off/seed_5021/record/stationlayer/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table."], "length": 2168, "magicsim/control_steps": 4336, "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 table b. There are a large gray table a, a large gray table b, a small gray layer bottom and a small orange layer top. The gray table b is to the left of the gray table a. The gray layer bottom is in front of the orange layer top. The orange layer top is behind the gray layer bottom. The scene is viewed from front-left, at table height."}

N009/sawyer_umi/dr_off/seed_5021/record/stationlayer/000/lerobot_v21/meta/extra/episode_000000.json

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+   "layout_ascii": "  +x forward / +y left  (top-down view)\n[table b]\n                 [la[layer top]\n\n\n\n\n\n\n                        [robot]"
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+}

N009/sawyer_umi/dr_off/seed_5021/record/stationlayer/000/lerobot_v21/meta/magicsim_manifest.json

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+{
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+        "time": "2026-11-08 16:14:10"
+    },
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+                "name": "RidgebackSawyerUmi",
+                "cfg": "RidgebackSawyerUmiCfg",
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+                "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"
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+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
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+                    "dummy_base_prismatic_y_joint",
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+                    "right_gripper_l_finger_joint",
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+        "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)"
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+            "extra.reward",
+            "frame_index",
+            "index",
+            "narration",
+            "next.done",
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+            "observation.eef_pose",
+            "observation.environment_state",
+            "observation.images.head",
+            "observation.images.wrist",
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+            "timestamp"
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+    "generated_run": {
+        "run_id": "stationlayer/000",
+        "task_type": "StationLayer"
+    }
+}

N009/sawyer_umi/dr_off/seed_5021/record/stationlayer/000/lerobot_v21/meta/tasks.jsonl

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N009/sawyer_umi/dr_off/seed_5021/record/stationlayer/000/run_meta.json

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+{
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+    "created": "2026-11-08 15:59:50",
+    "num_envs": 1,
+    "session_id": null,
+    "record_config": {
+        "output_dir": "/mnt/scratch/sz850_atomic/n009_saw_off_5021/out/record",
+        "formats": [
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+                    "type": "mobilemanip",
+                    "common": {
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+                        "arm_action": "ik_pink",
+                        "eef_action": "binary"
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+                        "base_joint_names": [
+                            "dummy_base_prismatic_x_joint",
+                            "dummy_base_prismatic_y_joint",
+                            "dummy_base_revolute_z_joint"
+                        ],
+                        "ik": {
+                            "type": "ridgebacksawyer_umi",
+                            "model_tuning": "ridgeback_sawyer_umi",
+                            "enable": true,
+                            "ik_num_instances": 1,
+                            "ik_batch_size": 1,
+                            "ik_num_seeds": 32,
+                            "ik_position_threshold": 0.005,
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+                            "relative_to_world_frame": false
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+                            "type": "ridgebacksawyer_umi",
+                            "model_tuning": "ridgeback_sawyer_umi",
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+                    "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": {
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+    },
+    "generated_run": {
+        "run_id": "stationlayer/000",
+        "task_type": "StationLayer"
+    }
+}

N009/sawyer_umi/dr_off/seed_5021/report.json

@@ -0,0 +1,3675 @@
+{
+ "task": "n009",
+ "robot": "sawyer_umi",
+ "level": "easy",
+ "dr": "on",
+ "seed": 5021,
+ "steps": 4436,
+ "summary": {
+  "episodes": 1,
+  "full_success": 1,
+  "fail_classes": {},
+  "wall_s": 856.9
+ },
+ "driver_error": null,
+ "review_cameras": [],
+ "policy_obs_signature": [
+  "/camera_info[0]/rgb[0]:(480, 640, 4):uint8",
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+  "/robot_state[0]/RidgebackSawyerUmi/base_ang_vel:(1, 3):torch.float32",
+  "/robot_state[0]/RidgebackSawyerUmi/base_heading_quat:(1, 4):torch.float32",
+  "/robot_state[0]/RidgebackSawyerUmi/base_lin_vel:(1, 3):torch.float32",
+  "/robot_state[0]/RidgebackSawyerUmi/base_pos:(1, 3):torch.float32",
+  "/robot_state[0]/RidgebackSawyerUmi/base_quat:(1, 4):torch.float32",
+  "/robot_state[0]/RidgebackSawyerUmi/eef_pos:(1, 3):torch.float32",
+  "/robot_state[0]/RidgebackSawyerUmi/eef_quat:(1, 4):torch.float32",
+  "/robot_state[0]/RidgebackSawyerUmi/eef_relative_pos:(1, 3):torch.float32",
+  "/robot_state[0]/RidgebackSawyerUmi/eef_relative_quat:(1, 4):torch.float32",
+  "/robot_state[0]/RidgebackSawyerUmi/eef_relatvie_pos_arm_base:(1, 3):torch.float32",
+  "/robot_state[0]/RidgebackSawyerUmi/gripper_pos:(1, 2):torch.float32",
+  "/robot_state[0]/RidgebackSawyerUmi/joint_effort:(1, 13):torch.float32",
+  "/robot_state[0]/RidgebackSawyerUmi/joint_pos:(1, 13):torch.float32",
+  "/robot_state[0]/RidgebackSawyerUmi/joint_vel:(1, 13):torch.float32"
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+    "/robot_state[0]/RidgebackSawyerUmi/base_lin_vel:(1, 3):torch.float32",
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+    "/robot_state[0]/RidgebackSawyerUmi/base_quat:(1, 4):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/eef_pos:(1, 3):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/eef_quat:(1, 4):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/eef_relative_pos:(1, 3):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/eef_relative_quat:(1, 4):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/eef_relatvie_pos_arm_base:(1, 3):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/gripper_pos:(1, 2):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/joint_effort:(1, 13):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/joint_pos:(1, 13):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/joint_vel:(1, 13):torch.float32"
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+    "reason": "",
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+   "judge_definitions": {
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+    "card_zone_half_width_m": 0.12,
+    "command_min_lift_gain_m": 0.05,
+    "command_min_lift_gain_m_before_n009_p5": 0.1,
+    "command_min_lift_gain_note": "internal progress gate of the Command (mean rise of the top sheet after the lift), not a card threshold: 0.10 m was above lift - hang/2 = 0.08-0.09 m, the most a free-hanging 0.30 m sheet lifted 0.18 m can gain (measured 0.069 / 0.084); lowered to 0.05 m, a test pins it below that ceiling"
+   },
+   "asset_variant": "stock_proxy_two_sheet"
+  }
+ ],
+ "collect": {
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+  "robot": "sawyer_umi",
+  "visual_dr": false,
+  "env": {
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+   "MMB_TASK_ID": "N009",
+   "MMB_CLEAN_VIEW": "1",
+   "MMB_REAL_ROBOT_LOOK": "1",
+   "MMB_VISUAL_DR": "0"
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+  "resolution": [
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+  "camera_hz": 25,
+  "record": {
+   "formats": [
+    "lerobot_v21",
+    "sim_info"
+   ],
+   "clear_buffer_on_failure": true,
+   "lerobot": {
+    "subsample_every": 2
+   }
+  }
+ }
+}

N009/sawyer_umi/dr_off/seed_5021/reports.jsonl

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0.5399, "pinch": [2.1298, 1.9952, 0.7225], "pinch_quat": [0.003, -0.9986, 0.0519, 0.0084], "top_minus_pinch_xy": [-0.014, 0.0717], "lift_centre_off": [0.0682, 0.0058], "zone": [2.2, 2.0], "top_to_zone": 0.1075}, {"tick": 4082, "event": "stage", "stage": "retreat", "mode": 4, "goal": [2.1256, 1.9945, 1.0651, -0.4676, -0.5226, -0.479, 0.5279]}, {"tick": 4183, "event": "stage_end", "stage": "retreat", "outcome": "finished", "pos_err_m": 0.005421988633115663, "l6": [2.1258, 1.9935, 1.0597, 0.4678, 0.5233, 0.4795, -0.5267], "arm_q_margin": {"right_j0": [0.209, 2.842], "right_j1": [-0.879, 2.93], "right_j2": [1.221, 1.821], "right_j3": [-0.145, 2.899], "right_j4": [1.768, 1.209], "right_j5": [-2.479, 0.497], "right_j6": [-2.883, 1.829]}}, {"tick": 4183, "event": "cloth_probe", "tag": "after_retreat", "top_centroid": [2.1151, 2.0665, 0.5613], "top_z_min": 0.54, "pinch": [2.1304, 1.9948, 0.8371], "pinch_quat": [-0.0042, 0.9986, -0.0514, -0.0075], "top_minus_pinch_xy": [-0.0152, 0.0718], "lift_centre_off": [0.0682, 0.0058], "zone": [2.2, 2.0], "top_to_zone": 0.1078}, {"tick": 4424, "event": "command_complete"}], "transport_state": "at_B", "transport_history": [[1, "at_A"], [1652, "carried"], [4059, "at_B"]], "station_transition_order": ["S", "A", "B"], "interstation_path_lengths": {"A->B": 4.53205857855355}, "interstation_net_m": 3.360506164499066, "distance_to_first_interaction": 3.5728122396270856, "final_approach_pose": [2.1935691833496094, 1.0372509956359863, 1.549648413402717], "regrasp_events": 0, "violations": [], "mobile_checks": {"stood_in_A": true, "stood_in_B_after_A": true, "object_lifted_at_A": true, "interstation_path_long_enough": true, "carried_over_the_transit": true, "no_violation": true}, "mobile_success": true, "task_id": "N009", "task_version": "EXT60-MobileAvatar-v3", "agent_id": "a02", "family_id": "C5", "primary_category": "cloth_layer_separation", "level": "easy", "embodiment": "sawyer_umi", "scene_seed": 5021, "execution_mode": "expert_collect", "planner_seeds": "lean", "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]/RidgebackSawyerUmi/base_ang_vel:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/base_heading_quat:(1, 4):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/base_lin_vel:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/base_pos:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/base_quat:(1, 4):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/eef_pos:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/eef_quat:(1, 4):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/eef_relative_pos:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/eef_relative_quat:(1, 4):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/eef_relatvie_pos_arm_base:(1, 3):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/gripper_pos:(1, 2):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/joint_effort:(1, 13):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/joint_pos:(1, 13):torch.float32", "/robot_state[0]/RidgebackSawyerUmi/joint_vel:(1, 13):torch.float32"], "station_layout": {"start": [-3.2, -2.0, 0.0], "stands": {"A": [0.34999999999999987, -1.8, 0.0], "B": [2.2, 1.1500000000000001, 1.5707963267948966]}, "tables": {"A": {"aabb": [0.8999999999999999, -2.25, 1.5, -1.35], "top_z": 0.53}, "B": {"aabb": [1.7500000000000002, 1.7, 2.6500000000000004, 2.3], "top_z": 0.53}}, "room": [-4.4, 4.4, -3.25, 4.75]}, "manipulation_success": true, "judge": {"ok": true, "reason": "", "numbers": {"bottom_shift_m": 2.1359070395189087e-07, "bottom_max_shift_m": 3.104994151249004e-07, "bottom_lift_m": 7.130745660610671e-09, "top_z_over_table_b": 0.03123604558874904, "top_to_zone_m": 0.10868541234878885, "hand_to_top_m": 0.2518512776430146, "bridge_active": 0.0}}, "full_success": true, "failure_reason": null, "fail_class": null, "material_loss_during_transport": 0.0, "grasp_mode": "attach_bridge", "ticks": 4436, "control_steps": 3982, "attach_events": [{"event": "attach", "at_tick": 1573, "opening_m": 0.00541403004899621, "nearest_particle_m": 0.0011807957287596521, "bound": true}, {"event": "release", "at_tick": 4029}], "ticks_bound_with_open_pads": 0, "bottom_layer_max_shift_m": 3.104994151249004e-07, "bottom_layer_reference": [1.1999999191784283, -1.7999992739726423, 0.5400001354657119], "top_layer_final_centroid": [2.114253608175793, 2.0667837940413376, 0.5612360455887491], "bottom_layer_final_centroid": [1.1999997745003173, -1.7999994311007206, 0.5400001425964576], "judge_definitions": {"card_bottom_max_shift_m": 0.03, "card_zone_half_width_m": 0.12, "command_min_lift_gain_m": 0.05, "command_min_lift_gain_m_before_n009_p5": 0.1, "command_min_lift_gain_note": "internal progress gate of the Command (mean rise of the top sheet after the lift), not a card threshold: 0.10 m was above lift - hang/2 = 0.08-0.09 m, the most a free-hanging 0.30 m sheet lifted 0.18 m can gain (measured 0.069 / 0.084); lowered to 0.05 m, a test pins it below that ceiling"}, "asset_variant": "stock_proxy_two_sheet"}