add 31 staged episodes

N025/go2_arm/dr_off/seed_1027/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 table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1670 rows vs ceil(3339/2) = 1670"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 31..3369, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "16.54 MB, 1670 frames at 25 fps, mean luma 111..142, std 23, new picture 1669x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1670 vs 1670"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "25.45 MB, 1670 frames at 25 fps, mean luma 113..173, std 30, new picture 1669x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1670 vs 1670"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stationassembly/000/sim_info"
+  }
+ }
+}

N025/go2_arm/dr_off/seed_1027/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n025_go2_off_1027/out  task=N025  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n025_go2_off_1027/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1670  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: 1670 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 table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'
+rows 1670 at dataset fps 25 = 66.80 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1670 rows vs ceil(3339/2) = 1670
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..3369, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 16.54 MB, 1670 frames at 25 fps, mean luma 111..142, std 23, new picture 1669x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1670 vs 1670
+[PASS] video observation.images.wrist decodes, 640x480, not black: 25.45 MB, 1670 frames at 25 fps, mean luma 113..173, std 30, new picture 1669x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1670 vs 1670
+parquet size 18.45 MB
+[PASS] sim_info present: stationassembly/000/sim_info
+dataset size 60.69 MB; whole cell dir 62.2 MB
+RESULT: ALL PASS

N025/go2_arm/dr_off/seed_1027/report.json

@@ -0,0 +1,2084 @@
+{
+  "task": "N025",
+  "agent_id": null,
+  "embodiment": "go2_arm",
+  "level": "easy",
+  "scene_seed": 1027,
+  "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)",
+  "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml",
+  "full_success": true,
+  "failure_reason": null,
+  "dr": {
+    "seed": 1027,
+    "wedge": {
+      "dx": -0.01315,
+      "dy": 0.02894,
+      "yaw_deg": 1.69346
+    },
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+      "env.scene.background.intensity": [
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+  },
+  "planner_seeds": {
+    "label": "lean",
+    "num_trajopt_seeds": 1,
+    "num_ik_seeds": 4,
+    "max_attempts": 6
+  },
+  "collect": {
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+    "robot": "go2_arm",
+    "visual_dr": false,
+    "env": {
+      "MMB_COLLECT": "1",
+      "MMB_TASK_ID": "N025",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "0"
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+    "resolution": [
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+    "record": {
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+        "lerobot_v21",
+        "sim_info"
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+      "clear_buffer_on_failure": true,
+      "lerobot": {
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+  },
+  "steps": 3369,
+  "task_id": "N025",
+  "task_version": "EXT60-MobileAvatar-v3",
+  "family_id": "wedge_support",
+  "primary_category": "C4",
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N025/go2_arm/dr_off/seed_1027/stationassembly/000/completed/0.json

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+     "subject": "table_A_1",
+     "relation": "in_front_of",
+     "object": "wedge_1"
+    },
+    {
+     "subject": "table_B_1",
+     "relation": "right_of",
+     "object": "shim_board_1"
+    },
+    {
+     "subject": "shim_board_1",
+     "relation": "on_top_of",
+     "object": "table_B_1"
+    },
+    {
+     "subject": "shim_board_1",
+     "relation": "left_of",
+     "object": "table_B_1"
+    },
+    {
+     "subject": "wedge_1",
+     "relation": "on_top_of",
+     "object": "table_A_1"
+    },
+    {
+     "subject": "wedge_1",
+     "relation": "behind",
+     "object": "table_A_1"
+    }
+   ],
+   "cameras": [
+    {
+     "name": "head",
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+       480
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+      -2.8606111998135173,
+      -0.26397670184726724
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+     "viewpoint": "front-right, at table height",
+     "extrinsics": {
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+       -0.08682200219228882,
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+    {
+     "name": "wrist",
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+       480
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+      -0.3120186620041649
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+     "viewpoint": "front-right, at table height",
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+      "R": [
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+        -0.9998337334638687,
+        0.005589449560045617
+       ],
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+        -0.014355819960515381,
+        0.34563246061317376
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+        -0.011243480820582297,
+        -0.9383533237667454
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+      ],
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+       0.006333551580298355,
+       -0.08611861262827436,
+       0.017148138726427706
+      ]
+     }
+    }
+   ],
+   "robots": [
+    {
+     "name": "Go2Plus",
+     "model": "go2plus",
+     "type": "mobilemanip",
+     "noun": "Unitree Go2 EDU quadruped with a Piper arm",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
+       -3.68588,
+       -2.55943,
+       0.45
+      ],
+      "ori": [
+       0.8239801526069641,
+       0.0,
+       0.0,
+       0.5666186809539795
+      ]
+     },
+     "facing_yaw_deg": 69.02954244120738,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1017.10045,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is in front of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is behind the gray table A. The scene is viewed from front-right, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                   [shim board]\n\n\n  [wedge]A]\n\n\n\n\n[robot]"
+  },
+  "task": {
+   "task_type": "StationAssembly",
+   "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Stationassembly the 1.5707963267948966.",
+   "task_id": "N025",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {
+   "frame_0586": {
+    "frame_idx": 586,
+    "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0614": {
+    "frame_idx": 614,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0788": {
+    "frame_idx": 788,
+    "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_0803": {
+    "frame_idx": 803,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0819": {
+    "frame_idx": 819,
+    "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_0826": {
+    "frame_idx": 826,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0859": {
+    "frame_idx": 859,
+    "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_0861": {
+    "frame_idx": 861,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0897": {
+    "frame_idx": 897,
+    "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "verify",
+    "skill_state": "computing",
+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0969": {
+    "frame_idx": 969,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0995": {
+    "frame_idx": 995,
+    "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_1018": {
+    "frame_idx": 1018,
+    "caption": "Working on the small wedge; the right gripper is below the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1323": {
+    "frame_idx": 1323,
+    "caption": "Done — the small wedge is grasped; the right gripper is below the wedge.",
+    "skill": "Grasp",
+    "phase": "completed",
+    "skill_state": "finished",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1324": {
+    "frame_idx": 1324,
+    "caption": "Working on the small wedge; the right gripper is below the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1371": {
+    "frame_idx": 1371,
+    "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_1382": {
+    "frame_idx": 1382,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2124": {
+    "frame_idx": 2124,
+    "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2130": {
+    "frame_idx": 2130,
+    "caption": "Working on the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2667": {
+    "frame_idx": 2667,
+    "caption": "Working on the medium shim board; the right gripper is below and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_2874": {
+    "frame_idx": 2874,
+    "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "verify",
+    "skill_state": "computing",
+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_2941": {
+    "frame_idx": 2941,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and behind the wedge.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:pre_insert",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "behind"
+    ]
+   }
+  }
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N025/go2_arm/dr_off/seed_1027/stationassembly/000/lerobot_v21/meta/info.json

@@ -0,0 +1,296 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "Go2PlusCfg",
+    "total_episodes": 1,
+    "total_frames": 1670,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
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+    },
+    "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": {
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+            ],
+            "names": [
+                "base_action_0",
+                "base_action_1",
+                "base_action_2",
+                "base_action_3",
+                "eef0.pos_x",
+                "eef0.pos_y",
+                "eef0.pos_z",
+                "eef0.quat_w",
+                "eef0.quat_x",
+                "eef0.quat_y",
+                "eef0.quat_z",
+                "gripper"
+            ]
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+        "action_is_hold": {
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+            "names": [
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+                "joint_1",
+                "joint_2",
+                "joint_3",
+                "joint_4",
+                "joint_5",
+                "joint_6",
+                "joint_7",
+                "joint_8",
+                "joint_9",
+                "joint_10",
+                "joint_11",
+                "joint_12",
+                "joint_13",
+                "joint_14",
+                "joint_15",
+                "joint_16",
+                "joint_17",
+                "joint_18",
+                "joint_19",
+                "joint_20",
+                "joint_21",
+                "joint_22",
+                "joint_23",
+                "gripper_0",
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+        "observation.joint_vel": {
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+            "names": [
+                "go2_FL_hip_joint",
+                "go2_FR_hip_joint",
+                "go2_RL_hip_joint",
+                "go2_RR_hip_joint",
+                "piper_joint1",
+                "go2_FL_thigh_joint",
+                "go2_FR_thigh_joint",
+                "go2_RL_thigh_joint",
+                "go2_RR_thigh_joint",
+                "piper_joint2",
+                "go2_FL_calf_joint",
+                "go2_FR_calf_joint",
+                "go2_RL_calf_joint",
+                "go2_RR_calf_joint",
+                "piper_joint3",
+                "piper_joint4",
+                "piper_joint5",
+                "piper_joint6",
+                "piper_joint7",
+                "piper_joint8"
+            ]
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+                "articulation_pose.shim_board.0",
+                "articulation_pose.shim_board.1",
+                "articulation_pose.shim_board.2",
+                "articulation_pose.shim_board.3",
+                "articulation_pose.shim_board.4",
+                "articulation_pose.shim_board.5",
+                "articulation_pose.shim_board.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_pose.wedge.0",
+                "object_pose.wedge.1",
+                "object_pose.wedge.2",
+                "object_pose.wedge.3",
+                "object_pose.wedge.4",
+                "object_pose.wedge.5",
+                "object_pose.wedge.6"
+            ]
+        },
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+        },
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+            "names": null
+        },
+        "extra.action_info": {
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+        },
+        "next.truncated": {
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+            "names": null
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+                "video.height": 480,
+                "video.width": 640,
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+}

N025/go2_arm/dr_off/seed_1027/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json

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+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 04:26:44"
+    },
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+                "cfg": "Go2PlusCfg",
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+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
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+                    "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",
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+                    "piper_joint4",
+                    "piper_joint5",
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+        "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": "StationAssembly"
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+}

N025/go2_arm/dr_off/seed_1027/stationassembly/000/lerobot_v21/meta/tasks.jsonl

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+{"task_index": 0, "task": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level."}

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N025/go2_arm/dr_off/seed_1027/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

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N025/go2_arm/dr_off/seed_1027/stationassembly/000/run_meta.json

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N025/go2_arm/dr_off/seed_1027/stationassembly/000/sim_info/0/actions.npz

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N025/go2_arm/dr_off/seed_1027/stationassembly/000/sim_info/0/scene_snapshot.json

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+}

N025/go2_arm/dr_off/seed_1027/stationassembly/000/sim_info/0/sim_states.npz

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N025/go2_arm/dr_off/seed_1027/stationassembly/000/sim_info/magicsim_manifest.json

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+{
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+        "sim_dt": 0.005,
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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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+        "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": "StationAssembly"
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+}

N025/sawyer_umi/dr_off/seed_1021/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 table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1394 rows vs ceil(2788/2) = 1394"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 31..2817, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "13.88 MB, 1394 frames at 25 fps, mean luma 84..140, std 37, new picture 1393x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1394 vs 1394"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "23.13 MB, 1394 frames at 25 fps, mean luma 96..174, std 40, new picture 1393x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1394 vs 1394"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stationassembly/000/sim_info"
+  }
+ }
+}

N025/sawyer_umi/dr_off/seed_1021/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n025_saw_off_1021/out  task=N025  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n025_saw_off_1021/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1394  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: 1394 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 table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'
+rows 1394 at dataset fps 25 = 55.76 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1394 rows vs ceil(2788/2) = 1394
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..2817, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 13.88 MB, 1394 frames at 25 fps, mean luma 84..140, std 37, new picture 1393x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1394 vs 1394
+[PASS] video observation.images.wrist decodes, 640x480, not black: 23.13 MB, 1394 frames at 25 fps, mean luma 96..174, std 40, new picture 1393x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1394 vs 1394
+parquet size 2.06 MB
+[PASS] sim_info present: stationassembly/000/sim_info
+dataset size 39.26 MB; whole cell dir 40.2 MB
+RESULT: ALL PASS

N025/sawyer_umi/dr_off/seed_1021/report.json

@@ -0,0 +1,1805 @@
+{
+  "task": "N025",
+  "agent_id": null,
+  "embodiment": "sawyer_umi",
+  "level": "easy",
+  "scene_seed": 1021,
+  "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)",
+  "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml",
+  "full_success": true,
+  "failure_reason": null,
+  "dr": {
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+    "wedge": {
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+      "dy": 0.05408,
+      "yaw_deg": 4.3871
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+    "light": 902.10823,
+    "spawn": {
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+      "env.scene.background.intensity": [
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+      ],
+      "env.robot.RidgebackSawyerUmi.common.pos": [
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+        [
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+        [
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+    "label": "default",
+    "num_trajopt_seeds": null,
+    "num_ik_seeds": null,
+    "max_attempts": 6
+  },
+  "collect": {
+    "task": "N025",
+    "robot": "sawyer_umi",
+    "visual_dr": false,
+    "env": {
+      "MMB_COLLECT": "1",
+      "MMB_TASK_ID": "N025",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "0"
+    },
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+      },
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+        "link": "Robot_0/right_electric_gripper_base",
+        "pos": [
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+          0.03
+        ],
+        "ori": [
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+        "horizontal_aperture": 3.6,
+        "vertical_aperture": 2.7
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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
+      }
+    }
+  },
+  "steps": 2818,
+  "task_id": "N025",
+  "task_version": "EXT60-MobileAvatar-v3",
+  "family_id": "wedge_support",
+  "primary_category": "C4",
+  "env_terminated": true,
+  "env_truncated": false,
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+      "table": "table_A"
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+        2.1
+      ],
+      "zone_radius": 0.6,
+      "table": "table_B"
+    }
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N025/sawyer_umi/dr_off/seed_1021/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,593 @@
+{
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+ "trajectory_id": 0,
+ "env_id": 0,
+ "task_type": "StationAssembly",
+ "subsample_every": 2,
+ "control_steps": 2788,
+ "language": {
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+     "inst_id": 1,
+     "noun": "table B",
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+     "size": "large",
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+     "size": "small",
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+     "relation": "left_of",
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+    {
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+     "relation": "right_of",
+     "object": "shim_board_1"
+    },
+    {
+     "subject": "shim_board_1",
+     "relation": "on_top_of",
+     "object": "table_B_1"
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+    {
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+     "relation": "left_of",
+     "object": "table_B_1"
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+     "relation": "on_top_of",
+     "object": "table_A_1"
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+    {
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+     "relation": "right_of",
+     "object": "table_A_1"
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+   ],
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+    }
+   ],
+   "robots": [
+    {
+     "name": "RidgebackSawyerUmi",
+     "model": "ridgebacksawyer_umi",
+     "type": "mobilemanip",
+     "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
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+       -2.55561,
+       0.06
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+      "ori": [
+       0.8373519778251648,
+       0.0,
+       0.0,
+       0.5466640591621399
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+     },
+     "facing_yaw_deg": 66.27690516718673,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 902.10823,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "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 medium shim board and a small wedge. The gray table A is to the left of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is to the right of the gray table A. The scene is viewed from front-right, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                   [shim board]\n\n\n[[wedge]]\n\n\n\n\n   [robot]"
+  },
+  "task": {
+   "task_type": "StationAssembly",
+   "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Stationassembly the 1.5707963267948966.",
+   "task_id": "N025",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {
+   "frame_0641": {
+    "frame_idx": 641,
+    "caption": "Computing a grasp pose for the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_0648": {
+    "frame_idx": 648,
+    "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the right of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0651": {
+    "frame_idx": 651,
+    "caption": "Working on the small wedge; the right gripper is below and to the right of and in front of the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0655": {
+    "frame_idx": 655,
+    "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
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+   },
+   "frame_0682": {
+    "frame_idx": 682,
+    "caption": "Working on the small wedge; the right gripper is below and to the right of and in front of the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of",
+     "in_front_of"
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+   },
+   "frame_0701": {
+    "frame_idx": 701,
+    "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
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+   },
+   "frame_0805": {
+    "frame_idx": 805,
+    "caption": "Working on the small wedge; the right gripper is below the wedge.",
+    "skill": "AssemblyGrasp",
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+    "skill_state": "running",
+    "planner": "MobileMoveL",
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+   },
+   "frame_0812": {
+    "frame_idx": 812,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of"
+    ]
+   },
+   "frame_0880": {
+    "frame_idx": 880,
+    "caption": "Working on the small wedge; the right gripper is below the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
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+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
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+   },
+   "frame_1170": {
+    "frame_idx": 1170,
+    "caption": "Done — the small wedge is grasped; the right gripper is below the wedge.",
+    "skill": "Grasp",
+    "phase": "completed",
+    "skill_state": "finished",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
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+   },
+   "frame_1171": {
+    "frame_idx": 1171,
+    "caption": "Working on the small wedge; the right gripper is below the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
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+   },
+   "frame_1200": {
+    "frame_idx": 1200,
+    "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
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+   },
+   "frame_1285": {
+    "frame_idx": 1285,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
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+     "left_of",
+     "in_front_of"
+    ]
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+   "frame_2284": {
+    "frame_idx": 2284,
+    "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2292": {
+    "frame_idx": 2292,
+    "caption": "Working on the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2502": {
+    "frame_idx": 2502,
+    "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "verify",
+    "skill_state": "computing",
+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2505": {
+    "frame_idx": 2505,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and behind the wedge.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:pre_insert",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "behind"
+    ]
+   }
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+ },
+ "depth_range": [
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+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N025/sawyer_umi/dr_off/seed_1021/stationassembly/000/lerobot_v21/meta/info.json

@@ -0,0 +1,277 @@
+{
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+                "frame0.quat_x",
+                "frame0.quat_y",
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+                "right_j2",
+                "right_j3",
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+                "right_j5",
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+                "right_gripper_l_finger_joint",
+                "right_gripper_r_finger_joint",
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+                "gripper_1"
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+                "dummy_base_prismatic_y_joint",
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+                "right_j1",
+                "right_j2",
+                "right_j3",
+                "right_j4",
+                "right_j5",
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+                "right_gripper_l_finger_joint",
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+}

N025/sawyer_umi/dr_off/seed_1021/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,264 @@
+{
+    "schema_version": 1,
+    "generated": {
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+    },
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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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N025/sawyer_umi/dr_off/seed_1021/stationassembly/000/lerobot_v21/meta/stats.json

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+}

N025/sawyer_umi/dr_off/seed_1021/stationassembly/000/sim_info/0/actions.npz

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+size 432112

N025/sawyer_umi/dr_off/seed_1021/stationassembly/000/sim_info/0/scene_snapshot.json

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+{
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+    "run_id": "stationassembly/000",
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+    "timing": {
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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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+                            },
+                            "type_specific": {}
+                        }
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+                        {
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+                        }
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+                        {
+                            "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/wedge_a05/Object.usd",
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+                ]
+            }
+        }
+    }
+}

N025/sawyer_umi/dr_off/seed_1021/stationassembly/000/sim_info/0/sim_states.npz

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+oid sha256:26855d473518bbcc1c87bb609856a67808d0c6325b240167f6d73f27205b6280
+size 398420

N025/sawyer_umi/dr_off/seed_1021/stationassembly/000/sim_info/magicsim_manifest.json

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+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 04:24:02"
+    },
+    "embodiment": {
+        "robots": [
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+                "name": "RidgebackSawyerUmi",
+                "cfg": "RidgebackSawyerUmiCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ]
+            }
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+    "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"
+    },
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+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
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+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
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+                "source": "HolonomicAction",
+                "names_source": "_joint_names"
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+                    "frame0.pos_z",
+                    "frame0.quat_w",
+                    "frame0.quat_x",
+                    "frame0.quat_y",
+                    "frame0.quat_z"
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+                "source": "PinkInverseKinematicsAction",
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+                    "dummy_base_prismatic_y_joint",
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+                    "head_pan",
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+                    "right_j2",
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+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
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+                "end": 15,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
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+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
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+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
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+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
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+                0.7071067690849304,
+                -4.329780301713277e-17
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "stationassembly/000",
+        "task_type": "StationAssembly"
+    }
+}

N025/sawyer_umi/dr_off/seed_1022/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 table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1363 rows vs ceil(2726/2) = 1363"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 31..2755, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "13.80 MB, 1363 frames at 25 fps, mean luma 90..141, std 36, new picture 1362x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1363 vs 1363"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "23.40 MB, 1363 frames at 25 fps, mean luma 95..172, std 38, new picture 1362x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1363 vs 1363"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stationassembly/000/sim_info"
+  }
+ }
+}

N025/sawyer_umi/dr_off/seed_1022/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n025_saw_off_1022/out  task=N025  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n025_saw_off_1022/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1363  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: 1363 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 table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'
+rows 1363 at dataset fps 25 = 54.52 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1363 rows vs ceil(2726/2) = 1363
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..2755, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 13.80 MB, 1363 frames at 25 fps, mean luma 90..141, std 36, new picture 1362x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1363 vs 1363
+[PASS] video observation.images.wrist decodes, 640x480, not black: 23.40 MB, 1363 frames at 25 fps, mean luma 95..172, std 38, new picture 1362x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1363 vs 1363
+parquet size 2.03 MB
+[PASS] sim_info present: stationassembly/000/sim_info
+dataset size 39.41 MB; whole cell dir 40.3 MB
+RESULT: ALL PASS

N025/sawyer_umi/dr_off/seed_1022/report.json

@@ -0,0 +1,1775 @@
+{
+  "task": "N025",
+  "agent_id": null,
+  "embodiment": "sawyer_umi",
+  "level": "easy",
+  "scene_seed": 1022,
+  "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)",
+  "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml",
+  "full_success": true,
+  "failure_reason": null,
+  "dr": {
+    "seed": 1022,
+    "wedge": {
+      "dx": -0.07292,
+      "dy": 0.01863,
+      "yaw_deg": -9.97103
+    },
+    "shim_board": {
+      "dx": 0.00921,
+      "dy": -0.04101,
+      "yaw_deg": -1.82553
+    },
+    "wedge_mass": 0.03997,
+    "light": 985.79802,
+    "spawn": {
+      "dx": 0.09897,
+      "dy": -0.13558,
+      "yaw_deg": -1.695
+    },
+    "overrides": {
+      "env.scene.objects.wedge.common.pos": [
+        -2.07292,
+        1.41863,
+        0.431
+      ],
+      "env.scene.objects.wedge.common.ori": [
+        0.0,
+        0.0,
+        80.02897
+      ],
+      "env.scene.objects.shim_board.common.pos": [
+        1.20921,
+        3.10899,
+        0.43
+      ],
+      "env.scene.objects.shim_board.common.ori": [
+        0.0,
+        0.0,
+        -91.82553
+      ],
+      "env.scene.objects.wedge.wedge_1.physics.mass": 0.03997,
+      "env.scene.background.intensity": [
+        985.79802,
+        985.79802
+      ],
+      "env.robot.RidgebackSawyerUmi.common.pos": [
+        [
+          -3.50103,
+          -2.63558,
+          0.06
+        ],
+        [
+          -3.50103,
+          -2.63558,
+          0.06
+        ]
+      ],
+      "env.robot.RidgebackSawyerUmi.common.ori": [
+        [
+          0,
+          0,
+          58.305
+        ],
+        [
+          0,
+          0,
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+      ]
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N025/sawyer_umi/dr_off/seed_1022/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,549 @@
+{
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+ "trajectory_id": 0,
+ "env_id": 0,
+ "task_type": "StationAssembly",
+ "subsample_every": 2,
+ "control_steps": 2726,
+ "language": {
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+     "inst_id": 1,
+     "noun": "table B",
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+     "size": "large",
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+     "size": "small",
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+     "object": "wedge_1"
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+    {
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+     "relation": "behind",
+     "object": "shim_board_1"
+    },
+    {
+     "subject": "shim_board_1",
+     "relation": "on_top_of",
+     "object": "table_B_1"
+    },
+    {
+     "subject": "shim_board_1",
+     "relation": "in_front_of",
+     "object": "table_B_1"
+    },
+    {
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+     "relation": "on_top_of",
+     "object": "table_A_1"
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+    {
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+     "relation": "behind",
+     "object": "table_A_1"
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+   "cameras": [
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+    {
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+   ],
+   "robots": [
+    {
+     "name": "RidgebackSawyerUmi",
+     "model": "ridgebacksawyer_umi",
+     "type": "mobilemanip",
+     "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
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+       -2.63558,
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+      "ori": [
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+       0.0,
+       0.0,
+       0.48713579773902893
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+     },
+     "facing_yaw_deg": 58.30499833368217,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 985.79802,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "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 medium shim board and a small wedge. The gray table A is in front of the wedge. The gray table B is behind the shim board. The shim board is on top of the gray table B. The shim board is in front of the gray table B. The wedge is on top of the gray table A. The wedge is behind the gray table A. The scene is viewed from front-right, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                   [shim board]\n\n\n[wedge]A]\n\n\n\n\n              [robot]"
+  },
+  "task": {
+   "task_type": "StationAssembly",
+   "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Stationassembly the 1.5707963267948966.",
+   "task_id": "N025",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {
+   "frame_0650": {
+    "frame_idx": 650,
+    "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0658": {
+    "frame_idx": 658,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0762": {
+    "frame_idx": 762,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of"
+    ]
+   },
+   "frame_0845": {
+    "frame_idx": 845,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and behind the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "behind"
+    ]
+   },
+   "frame_0876": {
+    "frame_idx": 876,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of"
+    ]
+   },
+   "frame_0887": {
+    "frame_idx": 887,
+    "caption": "Working on the small wedge; the right gripper is below the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1149": {
+    "frame_idx": 1149,
+    "caption": "Done — the small wedge is grasped; the right gripper is below the wedge.",
+    "skill": "Grasp",
+    "phase": "completed",
+    "skill_state": "finished",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1150": {
+    "frame_idx": 1150,
+    "caption": "Working on the small wedge; the right gripper is below the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1176": {
+    "frame_idx": 1176,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of"
+    ]
+   },
+   "frame_1202": {
+    "frame_idx": 1202,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2233": {
+    "frame_idx": 2233,
+    "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2238": {
+    "frame_idx": 2238,
+    "caption": "Working on the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2443": {
+    "frame_idx": 2443,
+    "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "verify",
+    "skill_state": "computing",
+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2446": {
+    "frame_idx": 2446,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and behind the wedge.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:pre_insert",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "behind"
+    ]
+   }
+  }
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}