add N059/stretch3/dr_on/seed_6010

N059/stretch3/dr_on/seed_6010/data/config_resolved.yaml

@@ -0,0 +1,802 @@
+env:
+  sim:
+    device: cpu
+    use_fabric: false
+    decimation: 4
+    dt: 0.005
+    soft_resets: 2
+    scene:
+      num_envs: 1
+      env_spacing: 14
+    render:
+      rendering_mode: performance
+      enable_reflections: false
+      enable_global_illumination: false
+      enable_translucency: false
+      enable_dl_denoiser: false
+    seed: 6010
+  robot:
+    HelloRobot:
+      name: hellorobot
+      type: mobilemanip
+      common:
+        pos:
+        - - -3.1
+          - -2.1
+          - 0.06
+        - - -2.9
+          - -1.9
+          - 0.06
+        ori:
+        - - 0.0
+          - 0.0
+          - 19.999999999999996
+        - - 0.0
+          - 0.0
+          - 40.0
+        initial_joint_pos:
+          dummy_base_.*: 0.0
+          joint_lift: 0.5
+          joint_arm_l[0-3]: 0.0
+          joint_wrist_yaw: 1.5707963267948966
+          joint_wrist_pitch: 0.0
+          joint_wrist_roll: 0.0
+          joint_head_.*: 0.0
+          joint_gripper_finger_.*: 0.0
+      action:
+        base_action: differential_virtual
+        arm_action: ik_abs
+        eef_action: binary
+      planner:
+        dual_mode: true
+        base_joint_names:
+        - dummy_base_prismatic_x_joint
+        - dummy_base_prismatic_y_joint
+        - dummy_base_revolute_z_joint
+        ik:
+          type: hellorobot
+          enable: true
+          ik_num_instances: 1
+          ik_batch_size: 1
+          ik_num_seeds: 32
+          ik_max_goalset: 64
+          ik_position_threshold: 0.005
+          ik_rotation_threshold: 0.05
+          microbatch_wait_ms: 20.0
+          seed_use_live_joint_pos: true
+        motiongen:
+          type: hellorobot
+          enable: true
+          motiongen_num_instances: 1
+          batch_size: 1
+          microbatch_wait_ms: 1.0
+          seed_use_live_joint_pos: true
+          mode: position
+          num_trajopt_seeds: 1
+          num_ik_seeds: 4
+        body:
+          type: nav
+          dwb_type: dwb_differential
+          dwb_differential:
+            device: cpu
+            dt: 0.02
+            debug: false
+            num_rollout_steps: 60
+            num_speed_samples: 11
+            num_steer_samples: 11
+            num_vx_samples: 7
+            num_vy_samples: 7
+            num_yaw_samples: 7
+            max_accel: 1.5
+            max_steer_rate: 1.5
+            max_accel_vx: 1.5
+            max_accel_vy: 1.5
+            max_yaw_accel: 1.5
+            w_goal: 6.0
+            w_path: 8.0
+            w_vel: 0.2
+            w_vy: 0.0
+            goal_cost_mode: path
+            dilate_radius: 0.3
+            room_size: 12.0
+            occupancy_update_interval: 25
+            scan_height: 0.35
+            scan_min_z: 0.12
+            scan_max_z: 1.65
+            goal_pos_threshold: 0.1
+            goal_yaw_threshold: 0.08
+            kp_goal_yaw: 1.5
+            min_speed: -0.3
+            max_speed: 0.3
+            w_heading: 0.25
+            min_yaw_rate: -0.8
+            max_yaw_rate: 0.8
+            safety_enabled: true
+            safety_deceleration: 0.5
+            safety_reaction_time: 0.5
+            goal_heading_fade_distance: 0.5
+            scan_type: 3d
+          p_controller:
+            kp_angular_turning_only: 2.0
+            kd_angular_turning_only: 0.2
+            kp_linear_x: 2.0
+            kp_linear_y: 2.0
+            kp_angular: 2.0
+            kd_linear_x: 0.1
+            kd_linear_y: 0.1
+            min_vel: -0.25
+            max_vel: 0.35
+            linear_dead_zone: 0.003
+            angular_dead_zone: 0.03
+            nav_heading_target: 1
+            velocity_frame: world
+        arm:
+          type: default
+        eef:
+          type: default
+      physics:
+        robot_radius: 0.4
+        wheel_base: 0.33
+      reset: default
+  camera:
+    enable_tiled: false
+    colorize_depth: false
+    head:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 2.73834228515625
+        horizontal_aperture: 2.1600000858306885
+        vertical_aperture: 1.62
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/base_link
+        pos:
+        - 0.049771
+        - -0.002942
+        - 1.295723
+        ori:
+        - 0.0002
+        - -55.623
+        - -90.0
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+    wrist:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.280753493309021
+        horizontal_aperture: 1.9199999570846558
+        vertical_aperture: 1.44
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/link_gripper_s3_body
+        pos:
+        - 0.009
+        - 0.062939
+        - 0.056398
+        ori:
+        - -170.0021
+        - 0.0
+        - -179.9998
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+  nav:
+    navmesh:
+      enabled: true
+      visualize: false
+      bake_timeout_s: 180
+      agent_height_cm: 150
+      min_agent_radius_cm: 36.0
+      max_agent_radius_cm: 36.0
+      max_step_height_cm: 20
+      max_floor_slope_deg: 30
+      agent_island_radius_cm: 5
+      auto_exclude_rigid_bodies: true
+      validate_path_clearance: true
+      validate_path_window: true
+      navmesh_offset_z_m: 0
+      verbose: false
+      validate_path_reroute: true
+    occupancymap:
+      cell_size: 0.05
+  scene:
+    terrain:
+      type: nav_room
+      collision: true
+      hide_top_walls: true
+      usd:
+      - $MAGICSIM_ASSETS/Room/Collected_SimpleRoom
+      annotation: Annotation
+      random: false
+      pos:
+      - 0.0
+      - 0.0
+      - 0.0
+      ori:
+      - 0.0
+      - 0.0
+      - 0.0
+      scale:
+      - 1.0
+      - 1.0
+      - 1.0
+      physics_material:
+        static_friction: 1.0
+        dynamic_friction: 1.0
+        restitution: 0.0
+        friction_combine_mode: multiply
+        restitution_combine_mode: multiply
+    background:
+      intensity:
+      - 1500
+      - 1500
+    objects:
+      table_a:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - -1.5
+          - 2.4
+          - 0.18
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 1.0
+          - 0.6
+          - 0.3
+        table_a_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          visual:
+            color:
+            - 0.55
+            - 0.42
+            - 0.3
+          physics:
+            type: geometry
+            collision: true
+      table_b:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 1.9
+          - 2.4
+          - 0.18
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 1.0
+          - 0.6
+          - 0.3
+        table_b_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          visual:
+            color:
+            - 0.55
+            - 0.42
+            - 0.3
+          physics:
+            type: geometry
+            collision: true
+      partition:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 0.2
+          - 2.55
+          - 0.78
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.08
+          - 2.3
+          - 1.5
+        partition_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          visual:
+            color:
+            - 0.8
+            - 0.8
+            - 0.84
+          physics:
+            type: geometry
+            collision: true
+      demo_x:
+        usd:
+        - $MAGICSIM_ASSETS/StationMemory/sm_block_x_v2
+        random: false
+        num_per_env: 1
+        common:
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+          pos:
+          - - -1.6500170111438575
+            - 2.22
+            - 0.414
+          - - -1.6500170111438575
+            - 2.22
+            - 0.414
+          ori:
+          - - 0.0
+            - 0.0
+            - -8.978129787598672
+          - - 0.0
+            - 0.0
+            - -8.978129787598672
+        demo_x_1:
+          physics:
+            type: rigid
+            collision: true
+            mass: 0.1
+            physics_material:
+              static_friction: 1.2
+              dynamic_friction: 1.2
+              restitution: 0.0
+      demo_y:
+        usd:
+        - $MAGICSIM_ASSETS/StationMemory/sm_block_y_v2
+        random: false
+        num_per_env: 1
+        common:
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+          pos:
+          - - -1.6500170111438575
+            - 2.22
+            - 0.3565
+          - - -1.6500170111438575
+            - 2.22
+            - 0.3565
+          ori:
+          - - 0.0
+            - 0.0
+            - -8.978129787598672
+          - - 0.0
+            - 0.0
+            - -8.978129787598672
+        demo_y_1:
+          physics:
+            type: rigid
+            collision: true
+            mass: 0.1
+            physics_material:
+              static_friction: 1.2
+              dynamic_friction: 1.2
+              restitution: 0.0
+      block_x:
+        usd:
+        - $MAGICSIM_ASSETS/StationMemory/sm_block_x_v2
+        random: false
+        num_per_env: 1
+        common:
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+          pos:
+          - - 2.0610531673132297
+            - 2.22
+            - 0.36149999999999993
+          - - 2.0610531673132297
+            - 2.22
+            - 0.36149999999999993
+          ori:
+          - - 0.0
+            - 0.0
+            - 0.0
+          - - 0.0
+            - 0.0
+            - 0.0
+        block_x_1:
+          physics:
+            type: rigid
+            collision: true
+            mass: 0.1
+            physics_material:
+              static_friction: 1.2
+              dynamic_friction: 1.2
+              restitution: 0.0
+      block_y:
+        usd:
+        - $MAGICSIM_ASSETS/StationMemory/sm_block_y_v2
+        random: false
+        num_per_env: 1
+        common:
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+          pos:
+          - - 1.776729371614827
+            - 2.22
+            - 0.3565
+          - - 1.776729371614827
+            - 2.22
+            - 0.3565
+          ori:
+          - - 0.0
+            - 0.0
+            - 0.0
+          - - 0.0
+            - 0.0
+            - 0.0
+        block_y_1:
+          physics:
+            type: rigid
+            collision: true
+            mass: 0.1
+            physics_material:
+              static_friction: 1.2
+              dynamic_friction: 1.2
+              restitution: 0.0
+collect:
+  global_planner:
+    NavTo:
+      use_navmesh: true
+      use_absolute: true
+      translation_threshold: 0.12
+      rotation_threshold: 0.1
+      num_path_segments: 30
+      start_forward_offset: 0.0
+      visualize_path: false
+      carry_arm: true
+    MobileMoveL:
+      translation_threshold: 0.045
+      rotation_threshold: 0.05
+      motiongen_distance_threshold: 0.0
+      timeout_steps: 600
+      debug: false
+      debug_viz: false
+      debug_sphere: false
+      reactive: false
+      base_pos_threshold: 0.025
+      base_rot_threshold: 0.05
+      eef_pos_threshold: 0.045
+      eef_rot_threshold: 0.1
+      waypoint_max_steps: 30
+      retry_mobile_on_locked_plan_failure: true
+    ParallelGripper:
+      gripper_threshold: 0.0005
+      timeout_steps: 60
+    MobileServoL:
+      base_pos_threshold: 0.12
+      waypoint_max_steps: 20
+      translation_threshold: 0.05
+      timeout_steps: 600
+      debug: false
+      debug_viz: false
+  atomic_skill:
+    NavToPose:
+      robot_id: 0
+      show_marker: false
+    Move:
+      arm_planner: MobileMoveL
+      hand_planner: ParallelGripper
+      obstacle_avoid_paths: []
+      obstacle_ignore_paths: []
+      close_value: 1.0
+      open_value: 0.0
+      hold_steps: 10
+    Grasp:
+      pre_grasp_offset: 0.1
+      retrieval_offset: 0.1
+      mobile: true
+      pre_grasp_planner: MobileMoveL
+      pre_grasp_mode: 0
+      grasp_mode: 0
+      retrieval_mode: 0
+      reactive: false
+      viz_grasp: false
+      goalset_lock_base: true
+      retrieval_up: true
+      pre_grasp_offset_x: 0.1
+      retrieval_offset_x: 0.15
+    ReachStance:
+      check_current_first: true
+      stance_margin: 0.0
+      max_reach: 1.2
+      max_walks: 1
+      reject_radius: 0.05
+      obstacle_avoidance:
+      - dynamic
+      walk_planner: MobileServoL
+      debug: true
+  auto_collect:
+    task_type: station
+    max_trajectories: 1
+  record:
+    output_dir: /mnt/scratch/sz850_atomic/n059_str_on_6010/out/data/record
+    formats:
+    - lerobot_v21
+    - sim_info
+    clear_buffer_on_failure: true
+    lerobot:
+      subsample_every: 2
+  command:
+    StackBlocks:
+      robot_id: 0
+      hand_id: 0
+      init_limit: 90
+      max_attempt: 2
+      read_ticks: 20
+      observe_timeout: 900
+      place_hover: 0.04
+      release_clearance: 0.006
+      retreat_up: 0.12
+task:
+  stance:
+    stand_radii:
+    - 0.42
+    - 0.5
+    - 0.36
+    walk_fallback: false
+    radii:
+    - 0.6
+    - 0.7
+    - 0.8
+    - 0.9
+    heights:
+    - 0.0
+    bearings_deg:
+    - 0
+    - -30
+    - 30
+    - -60
+    - 60
+    yaw_offsets_deg:
+    - 90.0
+    include_current: true
+  observation: {}
+  reward: {}
+  termination:
+    timeout_steps: 30000
+    success_hold_frames: 1
+  task_version: EXT60-MobileAvatar-v3
+  agent_id: a12
+  primary_category: C6
+  embodiment: stretch3
+  execution_mode: collect_chain
+  level: easy
+  scene_seed: 6010
+  layout:
+    floor_z: 0.03
+    room:
+      x:
+      - -3.7
+      - 3.7
+      'y':
+      - -2.55
+      - 4.05
+    S:
+      x: -3.0
+      'y': -2.0
+      yaw_deg: 30.0
+    boxes:
+      table_a:
+        cx: -1.5
+        cy: 2.4
+        sx: 1.0
+        sy: 0.6
+        height: 0.3
+      table_b:
+        cx: 1.9
+        cy: 2.4
+        sx: 1.0
+        sy: 0.6
+        height: 0.3
+      partition:
+        cx: 0.2
+        cy: 2.55
+        sx: 0.08
+        sy: 2.3
+        height: 1.5
+    stations:
+      A:
+        table: table_a
+        outward:
+        - 0.0
+        - -1.0
+      B:
+        table: table_b
+        outward:
+        - 0.0
+        - -1.0
+  stand:
+    standoff: 0.4
+  stretch: {}
+  task_id: N059
+  draw_kind: stack
+  cue_min_fraction: 1.0
+  review_cams:
+  - pos:
+    - -1.0
+    - 1.5
+    - 0.75
+    look_at:
+    - -1.5
+    - 2.22
+    - 0.42
+    focal: 6
+  - pos:
+    - 1.9
+    - 1.45
+    - 0.8
+    look_at:
+    - 1.9
+    - 2.22
+    - 0.4
+    focal: 6
+  - pos:
+    - 3.6
+    - -0.6
+    - 2.6
+    look_at:
+    - 0.2
+    - 2.2
+    - 0.4
+    focal: 5
+  stack:
+    half_row: 0.3
+    min_gap: 0.2
+    max_gap: 0.3
+    half_t1: 0.2
+    yaw_jitter_deg: 10.0
+    legible_size: 0.04
+    xy_tol: 0.02
+    z_tol: 0.012
+    other_tol: 0.06
+    lift_detect: 0.02
+  observe:
+    standoff: 1.2
+  spawn_jitter:
+    x: 0.1
+    'y': 0.1
+    yaw_deg: 10.0
+  items:
+    demo_x:
+      usd: $MAGICSIM_ASSETS/StationMemory/sm_block_x_v2
+      station: A
+      t: -0.15001701114385735
+      depth: 0.12
+      z: 0.084
+      yaw_deg: -8.978129787598672
+      physics:
+        type: rigid
+        collision: true
+        mass: 0.1
+        physics_material:
+          static_friction: 1.2
+          dynamic_friction: 1.2
+          restitution: 0.0
+    demo_y:
+      usd: $MAGICSIM_ASSETS/StationMemory/sm_block_y_v2
+      station: A
+      t: -0.15001701114385735
+      depth: 0.12
+      z: 0.026500000000000003
+      yaw_deg: -8.978129787598672
+      physics:
+        type: rigid
+        collision: true
+        mass: 0.1
+        physics_material:
+          static_friction: 1.2
+          dynamic_friction: 1.2
+          restitution: 0.0
+    block_x:
+      usd: $MAGICSIM_ASSETS/StationMemory/sm_block_x_v2
+      station: B
+      t: 0.16105316731322966
+      depth: 0.12
+      z: 0.0315
+      yaw_deg: 0
+      physics:
+        type: rigid
+        collision: true
+        mass: 0.1
+        physics_material:
+          static_friction: 1.2
+          dynamic_friction: 1.2
+          restitution: 0.0
+    block_y:
+      usd: $MAGICSIM_ASSETS/StationMemory/sm_block_y_v2
+      station: B
+      t: -0.12327062838517311
+      depth: 0.12
+      z: 0.0265
+      yaw_deg: 0
+      physics:
+        type: rigid
+        collision: true
+        mass: 0.1
+        physics_material:
+          static_friction: 1.2
+          dynamic_friction: 1.2
+          restitution: 0.0
+  draw:
+    bottom: 'Y'
+    top: X
+    t1: -0.15001701114385735
+    yaw1_deg: -8.978129787598672
+    start:
+      X: 0.16105316731322966
+      'Y': -0.12327062838517311
+env_string: StackOrderEnv-V0
+check:
+  command: StackBlocks
+levels:
+  easy:
+    task:
+      spawn_jitter:
+        x: 0.1
+        'y': 0.1
+        yaw_deg: 10.0
+  medium:
+    task:
+      spawn_jitter:
+        x: 0.2
+        'y': 0.2
+        yaw_deg: 15.0
+  hard:
+    task:
+      spawn_jitter:
+        x: 0.3
+        'y': 0.3
+        yaw_deg: 20.0
+visual_dr:
+  keep:
+  - demo_x
+  - demo_y
+  - block_x
+  - block_y

N059/stretch3/dr_on/seed_6010/data/record/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.'; expected 'Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1418 rows vs ceil(2835/2) = 1418"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 91..2925, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "45.48 MB, 1418 frames at 25 fps, mean luma 62..119, std 40, new picture 1417x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1418 vs 1418"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "39.47 MB, 1418 frames at 25 fps, mean luma 82..125, std 40, new picture 1417x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1418 vs 1418"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stackblocks/000/sim_info"
+  }
+ }
+}

N059/stretch3/dr_on/seed_6010/data/record/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/sz850_atomic/n059_str_on_6010/out/data/record  task=N059  at verify_collect_dataset.py
+dataset root /mnt/scratch/sz850_atomic/n059_str_on_6010/out/data/record/stackblocks/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1418  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: 1418 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 how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.'; expected 'Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.'
+rows 1418 at dataset fps 25 = 56.72 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1418 rows vs ceil(2835/2) = 1418
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 91..2925, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 45.48 MB, 1418 frames at 25 fps, mean luma 62..119, std 40, new picture 1417x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1418 vs 1418
+[PASS] video observation.images.wrist decodes, 640x480, not black: 39.47 MB, 1418 frames at 25 fps, mean luma 82..125, std 40, new picture 1417x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1418 vs 1418
+parquet size 2.16 MB
+[PASS] sim_info present: stackblocks/000/sim_info
+dataset size 87.32 MB; whole cell dir 88.4 MB
+RESULT: ALL PASS

N059/stretch3/dr_on/seed_6010/data/record/stackblocks/000/completed/0.json

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

N059/stretch3/dr_on/seed_6010/data/record/stackblocks/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4e51c1000f68d1aca04360dcad4c84bcf3f9adab04f731046ce200b77e61804
+size 2157896

N059/stretch3/dr_on/seed_6010/data/record/stackblocks/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order."], "length": 1418, "magicsim/control_steps": 2835, "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 demo y. There are a large gray table a, a large gray table b, a large white partition, a small demo x, a small demo y, a small block x and a small block y. The gray table a is to the left of the demo y. The gray table b is to the left of the block y. The white partition is to the left of the block y. The demo x is on top of the demo y. The block x is to the right of the block y. The block y is on top of the gray table b. The block y is to the right of the gray table b. The scene is viewed from front, slightly above table height."}

N059/stretch3/dr_on/seed_6010/data/record/stackblocks/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
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N059/stretch3/dr_on/seed_6010/data/record/stackblocks/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,555 @@
+{
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+     "relation": "left_of",
+     "object": "demo_y_1"
+    },
+    {
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+     "relation": "left_of",
+     "object": "block_y_1"
+    },
+    {
+     "subject": "partition_1",
+     "relation": "left_of",
+     "object": "block_y_1"
+    },
+    {
+     "subject": "demo_x_1",
+     "relation": "on_top_of",
+     "object": "demo_y_1"
+    },
+    {
+     "subject": "block_x_1",
+     "relation": "right_of",
+     "object": "block_y_1"
+    },
+    {
+     "subject": "block_y_1",
+     "relation": "on_top_of",
+     "object": "table_b_1"
+    },
+    {
+     "subject": "block_y_1",
+     "relation": "right_of",
+     "object": "table_b_1"
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+      0.615292922113909,
+      1.2357226254512388
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+        6.01063709654693e-07
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+       0.044614582297616646
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+    }
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+   "robots": [
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+     "model": "hellorobot",
+     "type": "mobilemanip",
+     "noun": "Hello Robot Stretch 3 mobile manipulator",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
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+       0.0,
+       0.0,
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+     },
+     "facing_yaw_deg": 22.876669461147,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
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+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1500.0,
+    "ambient": "bright"
+   },
+   "effects": [],
+   "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the demo y. There are a large gray table a, a large gray table b, a large white partition, a small demo x, a small demo y, a small block x and a small block y. The gray table a is to the left of the demo y. The gray table b is to the left of the block y. The white partition is to the left of the block y. The demo x is on top of the demo y. The block x is to the right of the block y. The block y is on top of the gray table b. The block y is to the right of the gray table b. The scene is viewed from front, slightly above table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n            [[block y]]\n\n     [partition]\n\n[[demo y]\n\n\n\n                        [robot]"
+  },
+  "task": {
+   "task_type": "StackBlocks",
+   "instruction": "Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Stackblocks the 1.5707963267948966.",
+   "task_id": "N059",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {
+   "frame_1816": {
+    "frame_idx": 1816,
+    "caption": "Pre-grasping the small block x, moving the arm toward it; the right gripper is below and to the left of and in front of the block x.",
+    "skill": "Grasp",
+    "phase": "pre_grasp",
+    "skill_state": "computing",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "block_x_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_1850": {
+    "frame_idx": 1850,
+    "caption": "Pre-grasping the small block x, moving the arm toward it; the right gripper is below and in front of the block x.",
+    "skill": "Grasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "block_x_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_1880": {
+    "frame_idx": 1880,
+    "caption": "Pre-grasping the small block x, moving the arm toward it; the right gripper is below the block x.",
+    "skill": "Grasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "block_x_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1891": {
+    "frame_idx": 1891,
+    "caption": "Grasping the small block x, moving the arm in to make contact; the right gripper is below the block x.",
+    "skill": "Grasp",
+    "phase": "grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "block_x_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1897": {
+    "frame_idx": 1897,
+    "caption": "Grasping the small block x, moving the arm in to make contact.",
+    "skill": "Grasp",
+    "phase": "grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "block_x_1",
+    "hand_id": 0,
+    "eef_relation": []
+   },
+   "frame_1941": {
+    "frame_idx": 1941,
+    "caption": "Closing the right gripper on the block x.",
+    "skill": "Grasp",
+    "phase": "close_gripper",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "block_x_1",
+    "hand_id": 0,
+    "eef_relation": []
+   },
+   "frame_2001": {
+    "frame_idx": 2001,
+    "caption": "Lifting the block x away with the gripper.",
+    "skill": "Grasp",
+    "phase": "retrieval",
+    "skill_state": "running",
+    "planner": "ParallelGripper",
+    "planner_state": "finished",
+    "target": "block_x_1",
+    "hand_id": 0,
+    "eef_relation": []
+   },
+   "frame_2002": {
+    "frame_idx": 2002,
+    "caption": "Lifting the block x away with the arm.",
+    "skill": "Grasp",
+    "phase": "retrieval",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "block_x_1",
+    "hand_id": 0,
+    "eef_relation": []
+   },
+   "frame_2006": {
+    "frame_idx": 2006,
+    "caption": "Lifting the block x away with the arm; the right gripper is below the block x.",
+    "skill": "Grasp",
+    "phase": "retrieval",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "block_x_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_2051": {
+    "frame_idx": 2051,
+    "caption": "Done — the small block x is grasped; the right gripper is below the block x.",
+    "skill": "Grasp",
+    "phase": "completed",
+    "skill_state": "finished",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "block_x_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   }
+  }
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": false,
+ "truncated": false
+}

N059/stretch3/dr_on/seed_6010/data/record/stackblocks/000/lerobot_v21/meta/info.json

@@ -0,0 +1,306 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "HelloRobotCfg",
+    "total_episodes": 1,
+    "total_frames": 1418,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                11
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "arm_action_0",
+                "arm_action_1",
+                "arm_action_2",
+                "arm_action_3",
+                "arm_action_4",
+                "arm_action_5",
+                "arm_action_6",
+                "gripper"
+            ]
+        },
+        "action_is_hold": {
+            "dtype": "bool",
+            "shape": [
+                11
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "joint_lift",
+                "joint_head_pan",
+                "joint_head_tilt",
+                "joint_arm_l3",
+                "joint_arm_l2",
+                "joint_arm_l1",
+                "joint_arm_l0",
+                "joint_wrist_yaw",
+                "joint_wrist_pitch",
+                "joint_wrist_roll",
+                "joint_gripper_finger_left",
+                "joint_gripper_finger_right"
+            ]
+        },
+        "observation.joint_vel": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "joint_lift",
+                "joint_head_pan",
+                "joint_head_tilt",
+                "joint_arm_l3",
+                "joint_arm_l2",
+                "joint_arm_l1",
+                "joint_arm_l0",
+                "joint_wrist_yaw",
+                "joint_wrist_pitch",
+                "joint_wrist_roll",
+                "joint_gripper_finger_left",
+                "joint_gripper_finger_right"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                57
+            ],
+            "names": [
+                "cue_displayed.stack.0",
+                "object_pose.block_x.0",
+                "object_pose.block_x.1",
+                "object_pose.block_x.2",
+                "object_pose.block_x.3",
+                "object_pose.block_x.4",
+                "object_pose.block_x.5",
+                "object_pose.block_x.6",
+                "object_pose.block_y.0",
+                "object_pose.block_y.1",
+                "object_pose.block_y.2",
+                "object_pose.block_y.3",
+                "object_pose.block_y.4",
+                "object_pose.block_y.5",
+                "object_pose.block_y.6",
+                "object_pose.demo_x.0",
+                "object_pose.demo_x.1",
+                "object_pose.demo_x.2",
+                "object_pose.demo_x.3",
+                "object_pose.demo_x.4",
+                "object_pose.demo_x.5",
+                "object_pose.demo_x.6",
+                "object_pose.demo_y.0",
+                "object_pose.demo_y.1",
+                "object_pose.demo_y.2",
+                "object_pose.demo_y.3",
+                "object_pose.demo_y.4",
+                "object_pose.demo_y.5",
+                "object_pose.demo_y.6",
+                "object_pose.partition.0",
+                "object_pose.partition.1",
+                "object_pose.partition.2",
+                "object_pose.partition.3",
+                "object_pose.partition.4",
+                "object_pose.partition.5",
+                "object_pose.partition.6",
+                "object_pose.table_a.0",
+                "object_pose.table_a.1",
+                "object_pose.table_a.2",
+                "object_pose.table_a.3",
+                "object_pose.table_a.4",
+                "object_pose.table_a.5",
+                "object_pose.table_a.6",
+                "object_pose.table_b.0",
+                "object_pose.table_b.1",
+                "object_pose.table_b.2",
+                "object_pose.table_b.3",
+                "object_pose.table_b.4",
+                "object_pose.table_b.5",
+                "object_pose.table_b.6",
+                "object_visible.block_x.0",
+                "object_visible.block_y.0",
+                "object_visible.demo_x.0",
+                "object_visible.demo_y.0",
+                "object_visible.partition.0",
+                "object_visible.table_a.0",
+                "object_visible.table_b.0"
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+            "shape": [
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+            "dtype": "string",
+            "shape": [
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+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
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+            "dtype": "float32",
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+            "names": null
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+        "observation.images.head": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
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+                "video.fps": 25,
+                "video.codec": "libsvtav1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
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+                "video.fps": 25,
+                "video.codec": "libsvtav1",
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+                "video.channels": 3,
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+            }
+        }
+    }
+}

N059/stretch3/dr_on/seed_6010/data/record/stackblocks/000/lerobot_v21/meta/magicsim_manifest.json

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+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 05:13:08"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "HelloRobot",
+                "cfg": "HelloRobotCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "HelloRobot.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HelloRobotBaseAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "HelloRobot.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "arm_action_0",
+                    "arm_action_1",
+                    "arm_action_2",
+                    "arm_action_3",
+                    "arm_action_4",
+                    "arm_action_5",
+                    "arm_action_6"
+                ],
+                "source": "HelloRobotIKAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "HelloRobot.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
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+                    "dummy_base_prismatic_y_joint",
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+                    "joint_head_tilt",
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+                    "joint_arm_l2",
+                    "joint_arm_l1",
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+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
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+                "names_source": "joint_names"
+            }
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+        "segments": [
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+                "end": 15,
+                "names": [
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+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
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+                "source": "ObservationManager",
+                "names_source": "joint_names"
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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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+    "generated_run": {
+        "run_id": "stackblocks/000",
+        "task_type": "StackBlocks"
+    }
+}

N059/stretch3/dr_on/seed_6010/data/record/stackblocks/000/lerobot_v21/meta/tasks.jsonl

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+{"task_index": 0, "task": "Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order."}

N059/stretch3/dr_on/seed_6010/data/record/stackblocks/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

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N059/stretch3/dr_on/seed_6010/data/record/stackblocks/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

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N059/stretch3/dr_on/seed_6010/data/record/stackblocks/000/run_meta.json

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+{
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+    "created": "2026-11-10 05:03:17",
+    "num_envs": 1,
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+    "record_config": {
+        "output_dir": "/mnt/scratch/sz850_atomic/n059_str_on_6010/out/data/record",
+        "formats": [
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+                    "type": "mobilemanip",
+                    "common": {
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+                        "arm_action": "ik_abs",
+                        "eef_action": "binary"
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+                        "base_joint_names": [
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+                            "dummy_base_prismatic_y_joint",
+                            "dummy_base_revolute_z_joint"
+                        ],
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+                            "type": "hellorobot",
+                            "enable": true,
+                            "ik_num_instances": 1,
+                            "ik_batch_size": 1,
+                            "ik_num_seeds": 32,
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+                            "mode": "position",
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+                                "debug": false,
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+                    "verbose": false,
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+}

N059/stretch3/dr_on/seed_6010/data/record/stackblocks/000/sim_info/0/actions.npz

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N059/stretch3/dr_on/seed_6010/data/record/stackblocks/000/sim_info/0/scene_snapshot.json

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+{
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+    "run_id": "stackblocks/000",
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+        "sim_dt": 0.005,
+        "decimation": 4
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+    "restore_interface": {
+        "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
+    },
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+      "rigid_body"
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+     [
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+      "rigid_body"
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+      "rigid_body"
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+      "rigid_body"
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+      "rigid_body"
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+     [
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+      "rigid_body"
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+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
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+     [
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+      "rigid_body"
+     ],
+     [
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+     [
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+      "rigid_body"
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+      "rigid_body"
+     ],
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+      "rigid_body"
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+     [
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+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
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+     [
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+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
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+      "rigid_body"
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+     [
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+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
+     ],
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+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head_pan/visuals_menagerie/g2",
+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
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+    ]
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+     "reason": "glass",
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+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
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+   ],
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+     "mdl": "OmniGlass.mdl",
+     "bound_prims": 1
+    }
+   ]
+  }
+ ]
+}