add 1 staged episodes

N009/go2_arm/dr_off/seed_1034/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the 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": "1242 rows vs ceil(2484/2) = 1242"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 101..2583, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "4.25 MB, 1242 frames at 25 fps, mean luma 119..148, std 15, new picture 1241x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1242 vs 1242"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "21.65 MB, 1242 frames at 25 fps, mean luma 111..178, std 34, new picture 1241x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1242 vs 1242"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "record/stationlayer/000/sim_info"
+  }
+ }
+}

N009/go2_arm/dr_off/seed_1034/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n009_go2_off_1034/out  task=N009  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n009_go2_off_1034/out/record/stationlayer/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1242  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: 1242 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 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 1242 at dataset fps 25 = 49.68 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1242 rows vs ceil(2484/2) = 1242
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..2583, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 4.25 MB, 1242 frames at 25 fps, mean luma 119..148, std 15, new picture 1241x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1242 vs 1242
+[PASS] video observation.images.wrist decodes, 640x480, not black: 21.65 MB, 1242 frames at 25 fps, mean luma 111..178, std 34, new picture 1241x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1242 vs 1242
+parquet size 33.83 MB
+[PASS] sim_info present: record/stationlayer/000/sim_info
+dataset size 62.20 MB; whole cell dir 99.2 MB
+RESULT: ALL PASS

N009/go2_arm/dr_off/seed_1034/config.yaml

@@ -0,0 +1,581 @@
+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: 1034
+  robot:
+    Go2Plus:
+      name: go2plus
+      type: mobilemanip
+      common:
+        pos:
+        - - -3.5
+          - -2.3
+          - 0.42000000000000004
+        - - -2.9000000000000004
+          - -1.7
+          - 0.42000000000000004
+        ori:
+        - - 0.0
+          - 0.0
+          - -20.0
+        - - 0.0
+          - 0.0
+          - 20.0
+        initial_joint_pos: null
+      action:
+        base_action: ${oc.env:GO2PLUS_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: 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: 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: 0.1
+            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: -0.35
+            max_vx: 0.35
+            min_vy: -0.25
+            max_vy: 0.25
+            min_yaw_rate: -0.8
+            max_yaw_rate: 0.8
+            dynamic_window_source: command
+            default_height: 0.39
+            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
+  nav:
+    navmesh:
+      enabled: true
+      visualize: false
+      bake_timeout_s: 180
+      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: 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
+    fall_height: 0.08
+    fall_tilt: 1.0
+  station:
+    level: easy
+    agent_id: a02
+    embodiment: go2_arm
+    task_version: EXT60-MobileAvatar-v3
+    execution_mode: expert_collect
+    layout:
+      table_h: 0.5
+      standoff: 0.306
+    settle_ticks: 80
+    hold_ticks: 10
+    judge_timeout_ticks: 300
+    default_avoid: []
+    report_jsonl: /mnt/scratch/xc536_atomic/n009_go2_off_1034/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: 0.012
+      rotation_threshold: 0.25
+      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: 8
+      interp_steps: 60
+      debug: false
+      debug_viz: false
+      retry_mobile_on_locked_plan_failure: true
+      stall_release_ticks: 100
+      stall_release_factor: 5.0
+      interp_validate_target: true
+    RetractMoveL:
+      translation_threshold: 0.06
+      rotation_threshold: 0.3
+      motiongen_distance_threshold: 0.05
+      timeout_steps: 2000
+      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/xc536_atomic/n009_go2_off_1034/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
+        grasp_tilt_deg: 10.0
+        pre_clear: 0.02
+        pre_place_hover: 0.06
+env_string: LayerEnv-V0
+visual_dr:
+  keep:
+  - layer_top
+  - layer_bottom

N009/go2_arm/dr_off/seed_1034/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/go2_arm/dr_off/seed_1034/record/stationlayer/000/joint_names.json

@@ -0,0 +1,24 @@
+{
+ "Go2Plus": [
+  "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"
+ ]
+}

N009/go2_arm/dr_off/seed_1034/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:b4f61b36ed83933a0c3d9e3a0319c448d9c7c57435e0dc8fa0ff23be6afbbaab
+size 33832355

N009/go2_arm/dr_off/seed_1034/record/stationlayer/000/lerobot_v21/meta/episodes.jsonl

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+}

N009/go2_arm/dr_off/seed_1034/record/stationlayer/000/lerobot_v21/meta/magicsim_manifest.json

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+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
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N009/go2_arm/dr_off/seed_1034/record/stationlayer/000/lerobot_v21/meta/tasks.jsonl

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+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
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+        "task_type": "StationLayer"
+    }
+}

N009/go2_arm/dr_off/seed_1034/report.json

@@ -0,0 +1,2586 @@
+{
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+  "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32",
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+  "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32",
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+  "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32",
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+   "violations": [],
+   "mobile_checks": {
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+    "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": "go2_arm",
+   "scene_seed": 1034,
+   "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]/Go2Plus/base_ang_vel:(1, 3):torch.float32",
+    "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32",
+    "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32",
+    "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32",
+    "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32",
+    "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32",
+    "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32",
+    "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32",
+    "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32",
+    "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32",
+    "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32",
+    "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32",
+    "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32"
+   ],
+   "station_layout": {
+    "start": [
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+     -2.0,
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+    "stands": {
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+    "tables": {
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+      "top_z": 0.53
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+     "B": {
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+       1.7,
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+      "top_z": 0.53
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+    },
+    "room": [
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+     4.4,
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+     4.75
+    ]
+   },
+   "manipulation_success": true,
+   "judge": {
+    "ok": true,
+    "reason": "",
+    "numbers": {
+     "bottom_shift_m": 4.7236186152234753e-05,
+     "bottom_max_shift_m": 0.00015996789637128214,
+     "bottom_lift_m": 1.8456047801151954e-09,
+     "top_z_over_table_b": 0.02401326618422761,
+     "top_to_zone_m": 0.07141474645415093,
+     "hand_to_top_m": 0.2570431993485532,
+     "bridge_active": 0.0
+    }
+   },
+   "full_success": true,
+   "failure_reason": null,
+   "fail_class": null,
+   "material_loss_during_transport": 0.0,
+   "grasp_mode": "attach_bridge",
+   "ticks": 2584,
+   "control_steps": 2130,
+   "attach_events": [
+    {
+     "event": "attach",
+     "at_tick": 856,
+     "opening_m": 0.006695771589875221,
+     "nearest_particle_m": 0.002936872706493063,
+     "bound": true
+    },
+    {
+     "event": "release",
+     "at_tick": 2217
+    }
+   ],
+   "ticks_bound_with_open_pads": 0,
+   "bottom_layer_max_shift_m": 0.00015996789637128214,
+   "bottom_layer_reference": [
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+    -1.7999992550971389,
+    0.5400001320261757
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+    -1.7999537735233668,
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+   "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"
+  }
+ ],
+ "collect": {
+  "task": "N009",
+  "robot": "go2_arm",
+  "visual_dr": false,
+  "env": {
+   "MMB_COLLECT": "1",
+   "MMB_TASK_ID": "N009",
+   "MMB_CLEAN_VIEW": "1",
+   "MMB_REAL_ROBOT_LOOK": "1",
+   "MMB_VISUAL_DR": "0"
+  },
+  "cameras": {
+   "head": {
+    "link": "Robot_0/Bodies/go2_base",
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+    "vertical_aperture": 1.4407838582992554
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+   "wrist": {
+    "link": "Robot_0/Bodies/piper_link6",
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+    "horizontal_aperture": 1.9199999570846558,
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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/go2_arm/dr_off/seed_1034/reports.jsonl

@@ -0,0 +1 @@
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"piper_joint3": [-2.79, 0.177], "piper_joint4": [0.09, 1.655], "piper_joint5": [0.964, 0.256], "piper_joint6": [-1.708, 0.386], "piper_joint7": [0.035, 0.0], "piper_joint8": [-0.035, 0.0]}}, {"tick": 2331, "event": "cloth_probe", "tag": "after_retreat", "top_centroid": [2.1318, 2.0331, 0.5576], "top_z_min": 0.5399, "pinch": [2.1523, 1.9959, 0.8333], "pinch_quat": [0.5324, -0.8455, -0.0408, -0.0023], "top_minus_pinch_xy": [-0.0205, 0.0372], "lift_centre_off": [0.0476, 0.0039], "zone": [2.2, 2.0], "top_to_zone": 0.0758}, {"tick": 2572, "event": "command_complete"}], "transport_state": "at_B", "transport_history": [[1, "at_A"], [913, "carried"], [2238, "at_B"]], "station_transition_order": ["S", "A", "B"], "interstation_path_lengths": {"A->B": 4.333035470381776}, "interstation_net_m": 3.1766746190566875, "distance_to_first_interaction": 3.9162554477056637, "final_approach_pose": [2.145585060119629, 1.299000859260559, 1.5674245966646094], "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": "go2_arm", "scene_seed": 1034, "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]/Go2Plus/base_ang_vel:(1, 3):torch.float32", "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32", "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32", "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32", "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32", "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32", "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32", "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32", "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32", "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32", "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32", "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32", "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32"], "station_layout": {"start": [-3.2, -2.0, 0.0], "stands": {"A": [0.5939999999999999, -1.8, 0.0], "B": [2.2, 1.3940000000000001, 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": 4.7236186152234753e-05, "bottom_max_shift_m": 0.00015996789637128214, "bottom_lift_m": 1.8456047801151954e-09, "top_z_over_table_b": 0.02401326618422761, "top_to_zone_m": 0.07141474645415093, "hand_to_top_m": 0.2570431993485532, "bridge_active": 0.0}}, "full_success": true, "failure_reason": null, "fail_class": null, "material_loss_during_transport": 0.0, "grasp_mode": "attach_bridge", "ticks": 2584, "control_steps": 2130, "attach_events": [{"event": "attach", "at_tick": 856, "opening_m": 0.006695771589875221, "nearest_particle_m": 0.002936872706493063, "bound": true}, {"event": "release", "at_tick": 2217}], "ticks_bound_with_open_pads": 0, "bottom_layer_max_shift_m": 0.00015996789637128214, "bottom_layer_reference": [1.199999826298875, -1.7999992550971389, 0.5400001320261757], "top_layer_final_centroid": [2.133370166076745, 2.0257008023701615, 0.5540132661842276], "bottom_layer_final_centroid": [1.200012581052084, -1.7999537735233668, 0.5400001338717805], "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"}