add 13 staged episodes

N004/sawyer_umi/dr_off/seed_1038/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 holder, pick up the coin, carry it to the piggy banks, and drop it through the slot of the bank the person is pointing at.'; expected 'Go to the holder, pick up the coin, carry it to the piggy banks, and drop it through the slot of the bank the person is pointing at.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1575 rows vs ceil(3149/2) = 1575"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 81..3229, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "18.69 MB, 1575 frames at 25 fps, mean luma 101..157, std 37, new picture 1574x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1575 vs 1575"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "30.40 MB, 1575 frames at 25 fps, mean luma 91..156, std 42, new picture 1574x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1575 vs 1575"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "coinchain/000/sim_info"
+  }
+ }
+}

N004/sawyer_umi/dr_off/seed_1038/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n004_saw_off_1038/out  task=N004  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n004_saw_off_1038/out/coinchain/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1575  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: 1575 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 holder, pick up the coin, carry it to the piggy banks, and drop it through the slot of the bank the person is pointing at.'; expected 'Go to the holder, pick up the coin, carry it to the piggy banks, and drop it through the slot of the bank the person is pointing at.'
+rows 1575 at dataset fps 25 = 63.00 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1575 rows vs ceil(3149/2) = 1575
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 81..3229, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 18.69 MB, 1575 frames at 25 fps, mean luma 101..157, std 37, new picture 1574x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1575 vs 1575
+[PASS] video observation.images.wrist decodes, 640x480, not black: 30.40 MB, 1575 frames at 25 fps, mean luma 91..156, std 42, new picture 1574x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1575 vs 1575
+parquet size 2.36 MB
+[PASS] sim_info present: coinchain/000/sim_info
+dataset size 51.84 MB; whole cell dir 53.2 MB
+RESULT: ALL PASS

N004/sawyer_umi/dr_off/seed_1038/coinchain/000/completed/0.json

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

N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
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+oid sha256:21a62b6f49a797598ab3b0dedb9b6c5388a8edc6a243e3b40623e95fe8925d41
+size 2364862

N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the holder, pick up the coin, carry it to the piggy banks, and drop it through the slot of the bank the person is pointing at."], "length": 1575, "magicsim/control_steps": 3149, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the red bank left wall n. There are a large gray table A, a large gray table B, a large gray holder rail l, a large gray holder rail r, a large red bank left floor, a large red bank left wall n, a large red bank left wall s, a large red bank left wall e, a large red bank left wall w, a large red bank left plate n, a large red bank left plate s, a large red bank left plate e, a large red bank left plate w, a large gray bank right floor, a large gray bank right wall n, a large gray bank right wall s, a large gray bank right wall e, a large gray bank right wall w, a large gray bank right plate n, a large gray bank right plate s, a large gray bank right plate e, a large gray bank right plate w and a small orange coin. The gray table A is in front of the gray holder rail r. The gray table B is to the right of the red bank left wall s. The red bank left floor is to the left of the red bank left wall s. The red bank left plate n is on top of the red bank left wall n. The red bank left plate s is on top of the red bank left wall s. The red bank left plate e is on top of the red bank left wall e. The red bank left plate w is on top of the red bank left wall w. The gray bank right floor is to the right of the gray bank right wall n. The gray bank right plate n is on top of the gray bank right wall n. The gray bank right plate s is on top of the gray bank right wall s. The gray bank right plate e is on top of the gray bank right wall e. The gray bank right plate w is on top of the gray bank right wall w. The scene is viewed from front-left, at table height."}

N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/meta/extra/episode_000000.json

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+{
+ "episode_index": 0,
+ "trajectory_id": 0,
+ "env_id": 0,
+ "task_type": "MmbChain",
+ "subsample_every": 2,
+ "control_steps": 3149,
+ "language": {
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+     "noun": "table B",
+     "color": "gray",
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+     "material": null,
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+     "noun": "holder rail l",
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+     "noun": "bank left wall n",
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+     "noun": "bank right plate s",
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+    {
+     "id": "bank_right_plate_e_1",
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+     "inst_id": 1,
+     "noun": "bank right plate e",
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+     "size": "large",
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+     "cat_name": "bank_right_plate_w",
+     "inst_id": 1,
+     "noun": "bank right plate w",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
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+    {
+     "id": "coin_1",
+     "cat_name": "coin",
+     "inst_id": 1,
+     "noun": "coin",
+     "color": "orange",
+     "size": "small",
+     "material": null,
+     "category": "rigid",
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+     "subject": "table_A_1",
+     "relation": "in_front_of",
+     "object": "holder_rail_r_1"
+    },
+    {
+     "subject": "table_B_1",
+     "relation": "right_of",
+     "object": "bank_left_wall_s_1"
+    },
+    {
+     "subject": "bank_left_floor_1",
+     "relation": "left_of",
+     "object": "bank_left_wall_s_1"
+    },
+    {
+     "subject": "bank_left_plate_n_1",
+     "relation": "on_top_of",
+     "object": "bank_left_wall_n_1"
+    },
+    {
+     "subject": "bank_left_plate_s_1",
+     "relation": "on_top_of",
+     "object": "bank_left_wall_s_1"
+    },
+    {
+     "subject": "bank_left_plate_e_1",
+     "relation": "on_top_of",
+     "object": "bank_left_wall_e_1"
+    },
+    {
+     "subject": "bank_left_plate_w_1",
+     "relation": "on_top_of",
+     "object": "bank_left_wall_w_1"
+    },
+    {
+     "subject": "bank_right_floor_1",
+     "relation": "right_of",
+     "object": "bank_right_wall_n_1"
+    },
+    {
+     "subject": "bank_right_plate_n_1",
+     "relation": "on_top_of",
+     "object": "bank_right_wall_n_1"
+    },
+    {
+     "subject": "bank_right_plate_s_1",
+     "relation": "on_top_of",
+     "object": "bank_right_wall_s_1"
+    },
+    {
+     "subject": "bank_right_plate_e_1",
+     "relation": "on_top_of",
+     "object": "bank_right_wall_e_1"
+    },
+    {
+     "subject": "bank_right_plate_w_1",
+     "relation": "on_top_of",
+     "object": "bank_right_wall_w_1"
+    }
+   ],
+   "cameras": [
+    {
+     "name": "head",
+     "intrinsics": {
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+     "viewpoint": "front-left, at table height",
+     "extrinsics": {
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+    {
+     "name": "wrist",
+     "intrinsics": {
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+      "resolution": [
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+     "viewpoint": "front-left, at table height",
+     "extrinsics": {
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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": {
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+      "ori": [
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+       0.0,
+       0.0,
+       -0.027818284928798676
+      ]
+     },
+     "facing_yaw_deg": -3.1881518947153156,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1000.0,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the red bank left wall n. There are a large gray table A, a large gray table B, a large gray holder rail l, a large gray holder rail r, a large red bank left floor, a large red bank left wall n, a large red bank left wall s, a large red bank left wall e, a large red bank left wall w, a large red bank left plate n, a large red bank left plate s, a large red bank left plate e, a large red bank left plate w, a large gray bank right floor, a large gray bank right wall n, a large gray bank right wall s, a large gray bank right wall e, a large gray bank right wall w, a large gray bank right plate n, a large gray bank right plate s, a large gray bank right plate e, a large gray bank right plate w and a small orange coin. The gray table A is in front of the gray holder rail r. The gray table B is to the right of the red bank left wall s. The red bank left floor is to the left of the red bank left wall s. The red bank left plate n is on top of the red bank left wall n. The red bank left plate s is on top of the red bank left wall s. The red bank left plate e is on top of the red bank left wall e. The red bank left plate w is on top of the red bank left wall w. The gray bank right floor is to the right of the gray bank right wall n. The gray bank right plate n is on top of the gray bank right wall n. The gray bank right plate s is on top of the gray bank right wall s. The gray bank right plate e is on top of the gray bank right wall e. The gray bank right plate w is on top of the gray bank right wall w. The scene is viewed from front-left, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n[ban[bank right plate e]r[coin]\n[ba[[bank right plate w]\n\n\n\n\n\n\n                        [robot]"
+  },
+  "task": {
+   "task_type": "CoinChain",
+   "instruction": "Go to the holder, pick up the coin, carry it to the piggy banks, and drop it through the slot of the bank the person is pointing at.",
+   "template_id": -1,
+   "slots": {
+    "obj": 0.0,
+    "support": null
+   },
+   "generic_instruction": "Coinchain the object.",
+   "task_id": "N004",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {}
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/meta/info.json

@@ -0,0 +1,1129 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "RidgebackSawyerUmiCfg",
+    "total_episodes": 1,
+    "total_frames": 1575,
+    "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": {
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+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "frame0.pos_x",
+                "frame0.pos_y",
+                "frame0.pos_z",
+                "frame0.quat_w",
+                "frame0.quat_x",
+                "frame0.quat_y",
+                "frame0.quat_z",
+                "gripper"
+            ]
+        },
+        "action_is_hold": {
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+            ],
+            "names": null
+        },
+        "observation.state": {
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+            "shape": [
+                15
+            ],
+            "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",
+                "gripper_0",
+                "gripper_1"
+            ]
+        },
+        "observation.joint_vel": {
+            "dtype": "float32",
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+            "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"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
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+                "avatar_motion.Person.joint_rot.351",
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+                "avatar_motion.Person.joint_rot.357",
+                "avatar_motion.Person.joint_rot.358",
+                "avatar_motion.Person.joint_rot.359",
+                "avatar_motion.Person.joint_rot.360",
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+                "avatar_motion.Person.joint_rot.368",
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+                "avatar_motion.Person.joint_rot.370",
+                "avatar_motion.Person.joint_rot.371",
+                "avatar_motion.Person.joint_rot.372",
+                "avatar_motion.Person.joint_rot.373",
+                "avatar_motion.Person.joint_rot.374",
+                "avatar_motion.Person.joint_rot.375",
+                "avatar_motion.Person.joint_rot.376",
+                "avatar_motion.Person.joint_rot.377",
+                "avatar_motion.Person.joint_rot.378",
+                "avatar_motion.Person.joint_rot.379",
+                "avatar_motion.Person.joint_rot.380",
+                "avatar_motion.Person.joint_rot.381",
+                "avatar_motion.Person.joint_rot.382",
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+                "avatar_motion.Person.joint_rot.384",
+                "avatar_motion.Person.joint_rot.385",
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+                "avatar_motion.Person.joint_rot.387",
+                "avatar_motion.Person.joint_rot.388",
+                "avatar_motion.Person.joint_rot.389",
+                "avatar_motion.Person.joint_rot.390",
+                "avatar_motion.Person.joint_rot.391",
+                "avatar_motion.Person.joint_rot.392",
+                "avatar_motion.Person.joint_rot.393",
+                "avatar_motion.Person.joint_rot.394",
+                "avatar_motion.Person.joint_rot.395",
+                "avatar_motion.Person.joint_rot.396",
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+                "avatar_motion.Person.joint_rot.398",
+                "avatar_motion.Person.joint_rot.399",
+                "avatar_motion.Person.joint_rot.400",
+                "avatar_motion.Person.joint_rot.401",
+                "avatar_motion.Person.joint_rot.402",
+                "avatar_motion.Person.joint_rot.403",
+                "avatar_motion.Person.root.0",
+                "avatar_motion.Person.root.1",
+                "avatar_motion.Person.root.2",
+                "avatar_motion.Person.root.3",
+                "avatar_motion.Person.root.4",
+                "avatar_motion.Person.root.5",
+                "avatar_motion.Person.root.6",
+                "base_pose.0",
+                "base_pose.1",
+                "base_pose.2",
+                "base_pose.3",
+                "base_pose.4",
+                "base_pose.5",
+                "base_pose.6",
+                "object_pose.bank_left_floor.0",
+                "object_pose.bank_left_floor.1",
+                "object_pose.bank_left_floor.2",
+                "object_pose.bank_left_floor.3",
+                "object_pose.bank_left_floor.4",
+                "object_pose.bank_left_floor.5",
+                "object_pose.bank_left_floor.6",
+                "object_pose.bank_left_plate_e.0",
+                "object_pose.bank_left_plate_e.1",
+                "object_pose.bank_left_plate_e.2",
+                "object_pose.bank_left_plate_e.3",
+                "object_pose.bank_left_plate_e.4",
+                "object_pose.bank_left_plate_e.5",
+                "object_pose.bank_left_plate_e.6",
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+                "object_pose.bank_left_plate_n.1",
+                "object_pose.bank_left_plate_n.2",
+                "object_pose.bank_left_plate_n.3",
+                "object_pose.bank_left_plate_n.4",
+                "object_pose.bank_left_plate_n.5",
+                "object_pose.bank_left_plate_n.6",
+                "object_pose.bank_left_plate_s.0",
+                "object_pose.bank_left_plate_s.1",
+                "object_pose.bank_left_plate_s.2",
+                "object_pose.bank_left_plate_s.3",
+                "object_pose.bank_left_plate_s.4",
+                "object_pose.bank_left_plate_s.5",
+                "object_pose.bank_left_plate_s.6",
+                "object_pose.bank_left_plate_w.0",
+                "object_pose.bank_left_plate_w.1",
+                "object_pose.bank_left_plate_w.2",
+                "object_pose.bank_left_plate_w.3",
+                "object_pose.bank_left_plate_w.4",
+                "object_pose.bank_left_plate_w.5",
+                "object_pose.bank_left_plate_w.6",
+                "object_pose.bank_left_wall_e.0",
+                "object_pose.bank_left_wall_e.1",
+                "object_pose.bank_left_wall_e.2",
+                "object_pose.bank_left_wall_e.3",
+                "object_pose.bank_left_wall_e.4",
+                "object_pose.bank_left_wall_e.5",
+                "object_pose.bank_left_wall_e.6",
+                "object_pose.bank_left_wall_n.0",
+                "object_pose.bank_left_wall_n.1",
+                "object_pose.bank_left_wall_n.2",
+                "object_pose.bank_left_wall_n.3",
+                "object_pose.bank_left_wall_n.4",
+                "object_pose.bank_left_wall_n.5",
+                "object_pose.bank_left_wall_n.6",
+                "object_pose.bank_left_wall_s.0",
+                "object_pose.bank_left_wall_s.1",
+                "object_pose.bank_left_wall_s.2",
+                "object_pose.bank_left_wall_s.3",
+                "object_pose.bank_left_wall_s.4",
+                "object_pose.bank_left_wall_s.5",
+                "object_pose.bank_left_wall_s.6",
+                "object_pose.bank_left_wall_w.0",
+                "object_pose.bank_left_wall_w.1",
+                "object_pose.bank_left_wall_w.2",
+                "object_pose.bank_left_wall_w.3",
+                "object_pose.bank_left_wall_w.4",
+                "object_pose.bank_left_wall_w.5",
+                "object_pose.bank_left_wall_w.6",
+                "object_pose.bank_right_floor.0",
+                "object_pose.bank_right_floor.1",
+                "object_pose.bank_right_floor.2",
+                "object_pose.bank_right_floor.3",
+                "object_pose.bank_right_floor.4",
+                "object_pose.bank_right_floor.5",
+                "object_pose.bank_right_floor.6",
+                "object_pose.bank_right_plate_e.0",
+                "object_pose.bank_right_plate_e.1",
+                "object_pose.bank_right_plate_e.2",
+                "object_pose.bank_right_plate_e.3",
+                "object_pose.bank_right_plate_e.4",
+                "object_pose.bank_right_plate_e.5",
+                "object_pose.bank_right_plate_e.6",
+                "object_pose.bank_right_plate_n.0",
+                "object_pose.bank_right_plate_n.1",
+                "object_pose.bank_right_plate_n.2",
+                "object_pose.bank_right_plate_n.3",
+                "object_pose.bank_right_plate_n.4",
+                "object_pose.bank_right_plate_n.5",
+                "object_pose.bank_right_plate_n.6",
+                "object_pose.bank_right_plate_s.0",
+                "object_pose.bank_right_plate_s.1",
+                "object_pose.bank_right_plate_s.2",
+                "object_pose.bank_right_plate_s.3",
+                "object_pose.bank_right_plate_s.4",
+                "object_pose.bank_right_plate_s.5",
+                "object_pose.bank_right_plate_s.6",
+                "object_pose.bank_right_plate_w.0",
+                "object_pose.bank_right_plate_w.1",
+                "object_pose.bank_right_plate_w.2",
+                "object_pose.bank_right_plate_w.3",
+                "object_pose.bank_right_plate_w.4",
+                "object_pose.bank_right_plate_w.5",
+                "object_pose.bank_right_plate_w.6",
+                "object_pose.bank_right_wall_e.0",
+                "object_pose.bank_right_wall_e.1",
+                "object_pose.bank_right_wall_e.2",
+                "object_pose.bank_right_wall_e.3",
+                "object_pose.bank_right_wall_e.4",
+                "object_pose.bank_right_wall_e.5",
+                "object_pose.bank_right_wall_e.6",
+                "object_pose.bank_right_wall_n.0",
+                "object_pose.bank_right_wall_n.1",
+                "object_pose.bank_right_wall_n.2",
+                "object_pose.bank_right_wall_n.3",
+                "object_pose.bank_right_wall_n.4",
+                "object_pose.bank_right_wall_n.5",
+                "object_pose.bank_right_wall_n.6",
+                "object_pose.bank_right_wall_s.0",
+                "object_pose.bank_right_wall_s.1",
+                "object_pose.bank_right_wall_s.2",
+                "object_pose.bank_right_wall_s.3",
+                "object_pose.bank_right_wall_s.4",
+                "object_pose.bank_right_wall_s.5",
+                "object_pose.bank_right_wall_s.6",
+                "object_pose.bank_right_wall_w.0",
+                "object_pose.bank_right_wall_w.1",
+                "object_pose.bank_right_wall_w.2",
+                "object_pose.bank_right_wall_w.3",
+                "object_pose.bank_right_wall_w.4",
+                "object_pose.bank_right_wall_w.5",
+                "object_pose.bank_right_wall_w.6",
+                "object_pose.coin.0",
+                "object_pose.coin.1",
+                "object_pose.coin.2",
+                "object_pose.coin.3",
+                "object_pose.coin.4",
+                "object_pose.coin.5",
+                "object_pose.coin.6",
+                "object_pose.holder_rail_l.0",
+                "object_pose.holder_rail_l.1",
+                "object_pose.holder_rail_l.2",
+                "object_pose.holder_rail_l.3",
+                "object_pose.holder_rail_l.4",
+                "object_pose.holder_rail_l.5",
+                "object_pose.holder_rail_l.6",
+                "object_pose.holder_rail_r.0",
+                "object_pose.holder_rail_r.1",
+                "object_pose.holder_rail_r.2",
+                "object_pose.holder_rail_r.3",
+                "object_pose.holder_rail_r.4",
+                "object_pose.holder_rail_r.5",
+                "object_pose.holder_rail_r.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"
+            ]
+        },
+        "action.command": {
+            "dtype": "float32",
+            "shape": [
+                800
+            ],
+            "names": null
+        },
+        "action.applied": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": null
+        },
+        "narration": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "collect_info": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "extra.reward": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "extra.action_info": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.truncated": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "sim_step_idx": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "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"
+            ],
+            "info": {
+                "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
+            }
+        }
+    }
+}

N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,264 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 00:20:13"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "RidgebackSawyerUmi",
+                "cfg": "RidgebackSawyerUmiCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HolonomicAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "frame0.pos_x",
+                    "frame0.pos_y",
+                    "frame0.pos_z",
+                    "frame0.quat_w",
+                    "frame0.quat_x",
+                    "frame0.quat_y",
+                    "frame0.quat_z"
+                ],
+                "source": "PinkInverseKinematicsAction",
+                "names_source": "pink_layout"
+            },
+            {
+                "name": "RidgebackSawyerUmi.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_pos",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.gripper_pos",
+                "start": 13,
+                "end": 15,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 13,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_vel",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
+                "K": [
+                    [
+                        355.55555555555554,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        355.55555555555554,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 83.97442499163331,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.21660000085830688,
+                0.0,
+                -0.04500000178813934
+            ],
+            "quat": [
+                -0.6743797063827515,
+                0.21263112127780914,
+                -0.21263112127780914,
+                0.6743797659873962
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        320.0,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        320.0,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 90.0,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.05979999899864197,
+                0.0,
+                0.029999999329447746
+            ],
+            "quat": [
+                6.123234262925839e-17,
+                0.7071067690849304,
+                0.7071067690849304,
+                -4.329780301713277e-17
+            ]
+        }
+    },
+    "lerobot": {
+        "codebase_version": "v2.1",
+        "video_keys": [
+            "observation.images.head",
+            "observation.images.wrist"
+        ],
+        "columns": [
+            "action",
+            "action.applied",
+            "action.command",
+            "action_is_hold",
+            "collect_info",
+            "episode_index",
+            "extra.action_info",
+            "extra.reward",
+            "frame_index",
+            "index",
+            "narration",
+            "next.done",
+            "next.truncated",
+            "observation.eef_pose",
+            "observation.environment_state",
+            "observation.images.head",
+            "observation.images.wrist",
+            "observation.joint_vel",
+            "observation.state",
+            "sim_step_idx",
+            "task_index",
+            "timestamp"
+        ]
+    },
+    "generated_run": {
+        "run_id": "coinchain/000",
+        "task_type": "MmbChain"
+    }
+}

N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Go to the holder, pick up the coin, carry it to the piggy banks, and drop it through the slot of the bank the person is pointing at."}

N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

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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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+}

N004/sawyer_umi/dr_off/seed_1038/report.json

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+{
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+}

N004/sawyer_umi/dr_off/seed_1038/reports/N004_easy_s1038_e1_1110-002009.json

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+   "coin_thickness": 0.0092
+  },
+  "bank_right": {
+   "centre": [
+    0.9,
+    1.95
+   ],
+   "yaw_deg": 0.0,
+   "slot_len": 0.09,
+   "slot_w": 0.022,
+   "coin_thickness": 0.0092
+  }
+ },
+ "avatar_target": "bank_left"
+}

N004/sawyer_umi/dr_on/seed_2048/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 holder, pick up the coin, carry it to the piggy banks, and drop it through the slot of the bank the person is pointing at.'; expected 'Go to the holder, pick up the coin, carry it to the piggy banks, and drop it through the slot of the bank the person is pointing at.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1472 rows vs ceil(2943/2) = 1472"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 81..3023, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "42.64 MB, 1472 frames at 25 fps, mean luma 90..156, std 45, new picture 1471x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1472 vs 1472"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "42.32 MB, 1472 frames at 25 fps, mean luma 91..163, std 44, new picture 1471x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1472 vs 1472"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "coinchain/000/sim_info"
+  }
+ }
+}

N004/sawyer_umi/dr_on/seed_2048/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n004_saw_on_2048/out  task=N004  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n004_saw_on_2048/out/coinchain/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1472  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: 1472 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 holder, pick up the coin, carry it to the piggy banks, and drop it through the slot of the bank the person is pointing at.'; expected 'Go to the holder, pick up the coin, carry it to the piggy banks, and drop it through the slot of the bank the person is pointing at.'
+rows 1472 at dataset fps 25 = 58.88 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1472 rows vs ceil(2943/2) = 1472
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 81..3023, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 42.64 MB, 1472 frames at 25 fps, mean luma 90..156, std 45, new picture 1471x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1472 vs 1472
+[PASS] video observation.images.wrist decodes, 640x480, not black: 42.32 MB, 1472 frames at 25 fps, mean luma 91..163, std 44, new picture 1471x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1472 vs 1472
+parquet size 2.13 MB
+[PASS] sim_info present: coinchain/000/sim_info
+dataset size 87.49 MB; whole cell dir 88.7 MB
+RESULT: ALL PASS

N004/sawyer_umi/dr_on/seed_2048/coinchain/000/completed/0.json

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

N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/data/chunk-000/episode_000000.parquet

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+version https://git-lfs.github.com/spec/v1
+oid sha256:301a1cbab6d2a8cf29cc10c5af3f977a82e731d60378895a2a4cd81ed381c26c
+size 2131610

N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the holder, pick up the coin, carry it to the piggy banks, and drop it through the slot of the bank the person is pointing at."], "length": 1472, "magicsim/control_steps": 2943, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the red bank left wall n. There are a large gray table A, a large gray table B, a large gray holder rail l, a large gray holder rail r, a large red bank left floor, a large red bank left wall n, a large red bank left wall s, a large red bank left wall e, a large red bank left wall w, a large red bank left plate n, a large red bank left plate s, a large red bank left plate e, a large red bank left plate w, a large gray bank right floor, a large gray bank right wall n, a large gray bank right wall s, a large gray bank right wall e, a large gray bank right wall w, a large gray bank right plate n, a large gray bank right plate s, a large gray bank right plate e, a large gray bank right plate w and a small orange coin. The gray table A is in front of the gray holder rail r. The gray table B is to the right of the red bank left wall s. The red bank left floor is to the right of the red bank left wall n. The red bank left plate n is on top of the red bank left wall n. The red bank left plate s is on top of the red bank left wall s. The red bank left plate e is on top of the red bank left wall e. The red bank left plate w is on top of the red bank left wall w. The gray bank right floor is to the right of the gray bank right wall n. The gray bank right plate n is on top of the gray bank right wall n. The gray bank right plate s is on top of the gray bank right wall s. The gray bank right plate e is on top of the gray bank right wall e. The gray bank right plate w is on top of the gray bank right wall w. The scene is viewed from front, at table height."}

N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/meta/extra/episode_000000.json

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+{
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+ "task_type": "MmbChain",
+ "subsample_every": 2,
+ "control_steps": 2943,
+ "language": {
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+     "inst_id": 1,
+     "noun": "table B",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
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+    {
+     "id": "holder_rail_l_1",
+     "cat_name": "holder_rail_l",
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+     "noun": "holder rail l",
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+    {
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+     "cat_name": "bank_right_plate_s",
+     "inst_id": 1,
+     "noun": "bank right plate s",
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+    {
+     "id": "bank_right_plate_e_1",
+     "cat_name": "bank_right_plate_e",
+     "inst_id": 1,
+     "noun": "bank right plate e",
+     "color": "gray",
+     "size": "large",
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+     "noun": "bank right plate w",
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+     "size": "large",
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+     "noun": "coin",
+     "color": "orange",
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+     "object": "holder_rail_r_1"
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+     "relation": "right_of",
+     "object": "bank_left_wall_s_1"
+    },
+    {
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+     "relation": "right_of",
+     "object": "bank_left_wall_n_1"
+    },
+    {
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+     "relation": "on_top_of",
+     "object": "bank_left_wall_n_1"
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+    {
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+     "relation": "on_top_of",
+     "object": "bank_left_wall_s_1"
+    },
+    {
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+     "relation": "on_top_of",
+     "object": "bank_left_wall_e_1"
+    },
+    {
+     "subject": "bank_left_plate_w_1",
+     "relation": "on_top_of",
+     "object": "bank_left_wall_w_1"
+    },
+    {
+     "subject": "bank_right_floor_1",
+     "relation": "right_of",
+     "object": "bank_right_wall_n_1"
+    },
+    {
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+     "relation": "on_top_of",
+     "object": "bank_right_wall_n_1"
+    },
+    {
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+     "relation": "on_top_of",
+     "object": "bank_right_wall_s_1"
+    },
+    {
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+     "object": "bank_right_wall_e_1"
+    },
+    {
+     "subject": "bank_right_plate_w_1",
+     "relation": "on_top_of",
+     "object": "bank_right_wall_w_1"
+    }
+   ],
+   "cameras": [
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+     "intrinsics": {
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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": {
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+     "facing_yaw_deg": 7.869307338878739,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1000.0,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the red bank left wall n. There are a large gray table A, a large gray table B, a large gray holder rail l, a large gray holder rail r, a large red bank left floor, a large red bank left wall n, a large red bank left wall s, a large red bank left wall e, a large red bank left wall w, a large red bank left plate n, a large red bank left plate s, a large red bank left plate e, a large red bank left plate w, a large gray bank right floor, a large gray bank right wall n, a large gray bank right wall s, a large gray bank right wall e, a large gray bank right wall w, a large gray bank right plate n, a large gray bank right plate s, a large gray bank right plate e, a large gray bank right plate w and a small orange coin. The gray table A is in front of the gray holder rail r. The gray table B is to the right of the red bank left wall s. The red bank left floor is to the right of the red bank left wall n. The red bank left plate n is on top of the red bank left wall n. The red bank left plate s is on top of the red bank left wall s. The red bank left plate e is on top of the red bank left wall e. The red bank left plate w is on top of the red bank left wall w. The gray bank right floor is to the right of the gray bank right wall n. The gray bank right plate n is on top of the gray bank right wall n. The gray bank right plate s is on top of the gray bank right wall s. The gray bank right plate e is on top of the gray bank right wall e. The gray bank right plate w is on top of the gray bank right wall w. The scene is viewed from front, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n[ban[bank right plate w]\n                [holder r[coin]\n\n\n\n\n\n\n                        [robot]"
+  },
+  "task": {
+   "task_type": "CoinChain",
+   "instruction": "Go to the holder, pick up the coin, carry it to the piggy banks, and drop it through the slot of the bank the person is pointing at.",
+   "template_id": -1,
+   "slots": {
+    "obj": 0.0,
+    "support": null
+   },
+   "generic_instruction": "Coinchain the object.",
+   "task_id": "N004",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {}
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/meta/info.json

@@ -0,0 +1,1129 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "RidgebackSawyerUmiCfg",
+    "total_episodes": 1,
+    "total_frames": 1472,
+    "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": {
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+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "frame0.pos_x",
+                "frame0.pos_y",
+                "frame0.pos_z",
+                "frame0.quat_w",
+                "frame0.quat_x",
+                "frame0.quat_y",
+                "frame0.quat_z",
+                "gripper"
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+        "action_is_hold": {
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+            "names": null
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+        "observation.state": {
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+            "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",
+                "gripper_0",
+                "gripper_1"
+            ]
+        },
+        "observation.joint_vel": {
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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"
+            ]
+        },
+        "observation.eef_pose": {
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+                "avatar_motion.Person.joint_rot.342",
+                "avatar_motion.Person.joint_rot.343",
+                "avatar_motion.Person.joint_rot.344",
+                "avatar_motion.Person.joint_rot.345",
+                "avatar_motion.Person.joint_rot.346",
+                "avatar_motion.Person.joint_rot.347",
+                "avatar_motion.Person.joint_rot.348",
+                "avatar_motion.Person.joint_rot.349",
+                "avatar_motion.Person.joint_rot.350",
+                "avatar_motion.Person.joint_rot.351",
+                "avatar_motion.Person.joint_rot.352",
+                "avatar_motion.Person.joint_rot.353",
+                "avatar_motion.Person.joint_rot.354",
+                "avatar_motion.Person.joint_rot.355",
+                "avatar_motion.Person.joint_rot.356",
+                "avatar_motion.Person.joint_rot.357",
+                "avatar_motion.Person.joint_rot.358",
+                "avatar_motion.Person.joint_rot.359",
+                "avatar_motion.Person.joint_rot.360",
+                "avatar_motion.Person.joint_rot.361",
+                "avatar_motion.Person.joint_rot.362",
+                "avatar_motion.Person.joint_rot.363",
+                "avatar_motion.Person.joint_rot.364",
+                "avatar_motion.Person.joint_rot.365",
+                "avatar_motion.Person.joint_rot.366",
+                "avatar_motion.Person.joint_rot.367",
+                "avatar_motion.Person.joint_rot.368",
+                "avatar_motion.Person.joint_rot.369",
+                "avatar_motion.Person.joint_rot.370",
+                "avatar_motion.Person.joint_rot.371",
+                "avatar_motion.Person.joint_rot.372",
+                "avatar_motion.Person.joint_rot.373",
+                "avatar_motion.Person.joint_rot.374",
+                "avatar_motion.Person.joint_rot.375",
+                "avatar_motion.Person.joint_rot.376",
+                "avatar_motion.Person.joint_rot.377",
+                "avatar_motion.Person.joint_rot.378",
+                "avatar_motion.Person.joint_rot.379",
+                "avatar_motion.Person.joint_rot.380",
+                "avatar_motion.Person.joint_rot.381",
+                "avatar_motion.Person.joint_rot.382",
+                "avatar_motion.Person.joint_rot.383",
+                "avatar_motion.Person.joint_rot.384",
+                "avatar_motion.Person.joint_rot.385",
+                "avatar_motion.Person.joint_rot.386",
+                "avatar_motion.Person.joint_rot.387",
+                "avatar_motion.Person.joint_rot.388",
+                "avatar_motion.Person.joint_rot.389",
+                "avatar_motion.Person.joint_rot.390",
+                "avatar_motion.Person.joint_rot.391",
+                "avatar_motion.Person.joint_rot.392",
+                "avatar_motion.Person.joint_rot.393",
+                "avatar_motion.Person.joint_rot.394",
+                "avatar_motion.Person.joint_rot.395",
+                "avatar_motion.Person.joint_rot.396",
+                "avatar_motion.Person.joint_rot.397",
+                "avatar_motion.Person.joint_rot.398",
+                "avatar_motion.Person.joint_rot.399",
+                "avatar_motion.Person.joint_rot.400",
+                "avatar_motion.Person.joint_rot.401",
+                "avatar_motion.Person.joint_rot.402",
+                "avatar_motion.Person.joint_rot.403",
+                "avatar_motion.Person.root.0",
+                "avatar_motion.Person.root.1",
+                "avatar_motion.Person.root.2",
+                "avatar_motion.Person.root.3",
+                "avatar_motion.Person.root.4",
+                "avatar_motion.Person.root.5",
+                "avatar_motion.Person.root.6",
+                "base_pose.0",
+                "base_pose.1",
+                "base_pose.2",
+                "base_pose.3",
+                "base_pose.4",
+                "base_pose.5",
+                "base_pose.6",
+                "object_pose.bank_left_floor.0",
+                "object_pose.bank_left_floor.1",
+                "object_pose.bank_left_floor.2",
+                "object_pose.bank_left_floor.3",
+                "object_pose.bank_left_floor.4",
+                "object_pose.bank_left_floor.5",
+                "object_pose.bank_left_floor.6",
+                "object_pose.bank_left_plate_e.0",
+                "object_pose.bank_left_plate_e.1",
+                "object_pose.bank_left_plate_e.2",
+                "object_pose.bank_left_plate_e.3",
+                "object_pose.bank_left_plate_e.4",
+                "object_pose.bank_left_plate_e.5",
+                "object_pose.bank_left_plate_e.6",
+                "object_pose.bank_left_plate_n.0",
+                "object_pose.bank_left_plate_n.1",
+                "object_pose.bank_left_plate_n.2",
+                "object_pose.bank_left_plate_n.3",
+                "object_pose.bank_left_plate_n.4",
+                "object_pose.bank_left_plate_n.5",
+                "object_pose.bank_left_plate_n.6",
+                "object_pose.bank_left_plate_s.0",
+                "object_pose.bank_left_plate_s.1",
+                "object_pose.bank_left_plate_s.2",
+                "object_pose.bank_left_plate_s.3",
+                "object_pose.bank_left_plate_s.4",
+                "object_pose.bank_left_plate_s.5",
+                "object_pose.bank_left_plate_s.6",
+                "object_pose.bank_left_plate_w.0",
+                "object_pose.bank_left_plate_w.1",
+                "object_pose.bank_left_plate_w.2",
+                "object_pose.bank_left_plate_w.3",
+                "object_pose.bank_left_plate_w.4",
+                "object_pose.bank_left_plate_w.5",
+                "object_pose.bank_left_plate_w.6",
+                "object_pose.bank_left_wall_e.0",
+                "object_pose.bank_left_wall_e.1",
+                "object_pose.bank_left_wall_e.2",
+                "object_pose.bank_left_wall_e.3",
+                "object_pose.bank_left_wall_e.4",
+                "object_pose.bank_left_wall_e.5",
+                "object_pose.bank_left_wall_e.6",
+                "object_pose.bank_left_wall_n.0",
+                "object_pose.bank_left_wall_n.1",
+                "object_pose.bank_left_wall_n.2",
+                "object_pose.bank_left_wall_n.3",
+                "object_pose.bank_left_wall_n.4",
+                "object_pose.bank_left_wall_n.5",
+                "object_pose.bank_left_wall_n.6",
+                "object_pose.bank_left_wall_s.0",
+                "object_pose.bank_left_wall_s.1",
+                "object_pose.bank_left_wall_s.2",
+                "object_pose.bank_left_wall_s.3",
+                "object_pose.bank_left_wall_s.4",
+                "object_pose.bank_left_wall_s.5",
+                "object_pose.bank_left_wall_s.6",
+                "object_pose.bank_left_wall_w.0",
+                "object_pose.bank_left_wall_w.1",
+                "object_pose.bank_left_wall_w.2",
+                "object_pose.bank_left_wall_w.3",
+                "object_pose.bank_left_wall_w.4",
+                "object_pose.bank_left_wall_w.5",
+                "object_pose.bank_left_wall_w.6",
+                "object_pose.bank_right_floor.0",
+                "object_pose.bank_right_floor.1",
+                "object_pose.bank_right_floor.2",
+                "object_pose.bank_right_floor.3",
+                "object_pose.bank_right_floor.4",
+                "object_pose.bank_right_floor.5",
+                "object_pose.bank_right_floor.6",
+                "object_pose.bank_right_plate_e.0",
+                "object_pose.bank_right_plate_e.1",
+                "object_pose.bank_right_plate_e.2",
+                "object_pose.bank_right_plate_e.3",
+                "object_pose.bank_right_plate_e.4",
+                "object_pose.bank_right_plate_e.5",
+                "object_pose.bank_right_plate_e.6",
+                "object_pose.bank_right_plate_n.0",
+                "object_pose.bank_right_plate_n.1",
+                "object_pose.bank_right_plate_n.2",
+                "object_pose.bank_right_plate_n.3",
+                "object_pose.bank_right_plate_n.4",
+                "object_pose.bank_right_plate_n.5",
+                "object_pose.bank_right_plate_n.6",
+                "object_pose.bank_right_plate_s.0",
+                "object_pose.bank_right_plate_s.1",
+                "object_pose.bank_right_plate_s.2",
+                "object_pose.bank_right_plate_s.3",
+                "object_pose.bank_right_plate_s.4",
+                "object_pose.bank_right_plate_s.5",
+                "object_pose.bank_right_plate_s.6",
+                "object_pose.bank_right_plate_w.0",
+                "object_pose.bank_right_plate_w.1",
+                "object_pose.bank_right_plate_w.2",
+                "object_pose.bank_right_plate_w.3",
+                "object_pose.bank_right_plate_w.4",
+                "object_pose.bank_right_plate_w.5",
+                "object_pose.bank_right_plate_w.6",
+                "object_pose.bank_right_wall_e.0",
+                "object_pose.bank_right_wall_e.1",
+                "object_pose.bank_right_wall_e.2",
+                "object_pose.bank_right_wall_e.3",
+                "object_pose.bank_right_wall_e.4",
+                "object_pose.bank_right_wall_e.5",
+                "object_pose.bank_right_wall_e.6",
+                "object_pose.bank_right_wall_n.0",
+                "object_pose.bank_right_wall_n.1",
+                "object_pose.bank_right_wall_n.2",
+                "object_pose.bank_right_wall_n.3",
+                "object_pose.bank_right_wall_n.4",
+                "object_pose.bank_right_wall_n.5",
+                "object_pose.bank_right_wall_n.6",
+                "object_pose.bank_right_wall_s.0",
+                "object_pose.bank_right_wall_s.1",
+                "object_pose.bank_right_wall_s.2",
+                "object_pose.bank_right_wall_s.3",
+                "object_pose.bank_right_wall_s.4",
+                "object_pose.bank_right_wall_s.5",
+                "object_pose.bank_right_wall_s.6",
+                "object_pose.bank_right_wall_w.0",
+                "object_pose.bank_right_wall_w.1",
+                "object_pose.bank_right_wall_w.2",
+                "object_pose.bank_right_wall_w.3",
+                "object_pose.bank_right_wall_w.4",
+                "object_pose.bank_right_wall_w.5",
+                "object_pose.bank_right_wall_w.6",
+                "object_pose.coin.0",
+                "object_pose.coin.1",
+                "object_pose.coin.2",
+                "object_pose.coin.3",
+                "object_pose.coin.4",
+                "object_pose.coin.5",
+                "object_pose.coin.6",
+                "object_pose.holder_rail_l.0",
+                "object_pose.holder_rail_l.1",
+                "object_pose.holder_rail_l.2",
+                "object_pose.holder_rail_l.3",
+                "object_pose.holder_rail_l.4",
+                "object_pose.holder_rail_l.5",
+                "object_pose.holder_rail_l.6",
+                "object_pose.holder_rail_r.0",
+                "object_pose.holder_rail_r.1",
+                "object_pose.holder_rail_r.2",
+                "object_pose.holder_rail_r.3",
+                "object_pose.holder_rail_r.4",
+                "object_pose.holder_rail_r.5",
+                "object_pose.holder_rail_r.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"
+            ]
+        },
+        "action.command": {
+            "dtype": "float32",
+            "shape": [
+                800
+            ],
+            "names": null
+        },
+        "action.applied": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": null
+        },
+        "narration": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "collect_info": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "extra.reward": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "extra.action_info": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.truncated": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "sim_step_idx": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "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"
+            ],
+            "info": {
+                "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
+            }
+        }
+    }
+}

N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,264 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 00:18:47"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "RidgebackSawyerUmi",
+                "cfg": "RidgebackSawyerUmiCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HolonomicAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "frame0.pos_x",
+                    "frame0.pos_y",
+                    "frame0.pos_z",
+                    "frame0.quat_w",
+                    "frame0.quat_x",
+                    "frame0.quat_y",
+                    "frame0.quat_z"
+                ],
+                "source": "PinkInverseKinematicsAction",
+                "names_source": "pink_layout"
+            },
+            {
+                "name": "RidgebackSawyerUmi.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_pos",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.gripper_pos",
+                "start": 13,
+                "end": 15,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 13,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_vel",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
+                "K": [
+                    [
+                        355.55555555555554,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        355.55555555555554,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 83.97442499163331,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.21660000085830688,
+                0.0,
+                -0.04500000178813934
+            ],
+            "quat": [
+                -0.6743797063827515,
+                0.21263112127780914,
+                -0.21263112127780914,
+                0.6743797659873962
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        320.0,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        320.0,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 90.0,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.05979999899864197,
+                0.0,
+                0.029999999329447746
+            ],
+            "quat": [
+                6.123234262925839e-17,
+                0.7071067690849304,
+                0.7071067690849304,
+                -4.329780301713277e-17
+            ]
+        }
+    },
+    "lerobot": {
+        "codebase_version": "v2.1",
+        "video_keys": [
+            "observation.images.head",
+            "observation.images.wrist"
+        ],
+        "columns": [
+            "action",
+            "action.applied",
+            "action.command",
+            "action_is_hold",
+            "collect_info",
+            "episode_index",
+            "extra.action_info",
+            "extra.reward",
+            "frame_index",
+            "index",
+            "narration",
+            "next.done",
+            "next.truncated",
+            "observation.eef_pose",
+            "observation.environment_state",
+            "observation.images.head",
+            "observation.images.wrist",
+            "observation.joint_vel",
+            "observation.state",
+            "sim_step_idx",
+            "task_index",
+            "timestamp"
+        ]
+    },
+    "generated_run": {
+        "run_id": "coinchain/000",
+        "task_type": "MmbChain"
+    }
+}

N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/meta/tasks.jsonl

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+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
+                "K": [
+                    [
+                        355.55555555555554,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        355.55555555555554,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 83.97442499163331,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.21660000085830688,
+                0.0,
+                -0.04500000178813934
+            ],
+            "quat": [
+                -0.6743797063827515,
+                0.21263112127780914,
+                -0.21263112127780914,
+                0.6743797659873962
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        320.0,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        320.0,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 90.0,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.05979999899864197,
+                0.0,
+                0.029999999329447746
+            ],
+            "quat": [
+                6.123234262925839e-17,
+                0.7071067690849304,
+                0.7071067690849304,
+                -4.329780301713277e-17
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "coinchain/000",
+        "task_type": "MmbChain"
+    }
+}

N004/sawyer_umi/dr_on/seed_2048/coinchain/000/visual_dr.json

@@ -0,0 +1,695 @@
+{
+ "version": 1,
+ "settings": {
+  "enabled": false,
+  "keep": [
+   "bank_left_*",
+   "bank_right_*",
+   "Person"
+  ],
+  "skip": [
+   "*Robot_*",
+   "*/Camera*",
+   "*/camera*"
+  ],
+  "light_intensity": [
+   0.6,
+   1.5
+  ],
+  "light_color_temperature": [
+   3500.0,
+   7500.0
+  ],
+  "light_jitter_deg": 5.0,
+  "dome_swap_prob": 0.5,
+  "dome_tint_sat": [
+   0.0,
+   0.15
+  ],
+  "dome_yaw": true,
+  "hdr_dir": "$MAGICSIM_ASSETS/Background",
+  "tint_sat": [
+   0.0,
+   0.3
+  ],
+  "tint_val": [
+   0.7,
+   1.0
+  ],
+  "roughness_scale": [
+   0.8,
+   1.25
+  ],
+  "material_swap": true,
+  "material_swap_prob": 1.0,
+  "material_library": "$MAGICSIM_ASSETS/Material"
+ },
+ "episodes": [
+  {
+   "env_ids": [
+    0
+   ],
+   "reset_index": 0,
+   "episode_seed": 2048,
+   "seeds": {
+    "0": 2048
+   },
+   "lights": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
+     "type": "RectLight",
+     "intensity": 20465.825109,
+     "intensity_base": 15000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 3946.963269,
+     "rotate_deg": [
+      -1.441,
+      0.553,
+      2.077
+     ]
+    }
+   ],
+   "domes": [
+    {
+     "path": "/World/background",
+     "type": "DomeLight",
+     "intensity": 1431.783681,
+     "intensity_base": 1000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 4416.182002,
+     "rotate_deg": [
+      0.0,
+      0.0,
+      86.437
+     ],
+     "dome": {
+      "path": "/World/background",
+      "hdr_base": null,
+      "color": [
+       0.760325,
+       0.77758,
+       0.8279
+      ]
+     }
+    }
+   ],
+   "materials": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "shader": "omnipbr",
+     "color": [
+      0.841,
+      0.9304,
+      0.8492
+     ],
+     "color_base": [
+      1.0,
+      1.0,
+      1.0
+     ],
+     "roughness": 0.540171,
+     "roughness_base": 0.5,
+     "bound_prims": 1
+    }
+   ],
+   "display_colors": [],
+   "swapped": [
+    {
+     "path": "/World/Characters/MagicGraph/Biped_Setup/biped_demo_meters/Looks/suit",
+     "role": "object",
+     "mdl": "Source/Masonry/Sandstone_Brick_Vintage.mdl",
+     "material": "/MmbVdrLooks/Source_Masonry_Sandstone_Brick_Vintage",
+     "bound_prims": 1,
+     "pool_size": 54,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor",
+     "role": "ground",
+     "mdl": "Ground/Cobblestone_Medieval.mdl",
+     "material": "/MmbVdrLooks/Ground_Cobblestone_Medieval",
+     "bound_prims": 1,
+     "pool_size": 42,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic",
+     "role": "wall",
+     "mdl": "Source/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl",
+     "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Concrete/Concrete_Formed.mdl",
+     "material": "/MmbVdrLooks/Source_Concrete_Concrete_Formed",
+     "bound_prims": 22,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
+     "role": "wall",
+     "mdl": "Source/Masonry/Facade_Brick_Grey.mdl",
+     "material": "/MmbVdrLooks/Source_Masonry_Facade_Brick_Grey",
+     "bound_prims": 10,
+     "pool_size": 28,
+     "bind_failed": 0
+    }
+   ],
+   "skipped": {
+    "unsupported_shader": 1,
+    "protected_material": 0,
+    "error": 0,
+    "instance_proxy": 0,
+    "no_swap": 2,
+    "bind_failed": 0
+   },
+   "keep_hits": {
+    "bank_left_*": 9,
+    "bank_right_*": 9,
+    "Person": 5
+   },
+   "physics_skip": {
+    "physics_binding": 23,
+    "rigid_body": 95,
+    "examples": [
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_1/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_2/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_3/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_4/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_5/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_6/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_7/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_1/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/front_laser/visuals/front_laser_visuals/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/front_laser/collisions/mesh_0/box",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/rear_laser/visuals/rear_laser_visuals/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/rear_laser/collisions/mesh_0/box",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/collisions/mesh_0/cylinder",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh3",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh4",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh5",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh6",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/collisions/mesh_0/sphere",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh3",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh5",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh6",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh4",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh7",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh8",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh9",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/collisions/mesh_0/sphere",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/screen/visuals/mesh_0/box",
+      "rigid_body"
+     ]
+    ]
+   },
+   "material_library": {
+    "root": "/mnt/scratch/xc536_atomic_local/repo_b3820fd82/Assets/Material",
+    "pool_sizes": {
+     "ground": 42,
+     "wall": 28,
+     "furniture": 38,
+     "object": 54
+    }
+   },
+   "no_swap": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "reason": "glass",
+     "bound_prims": 1
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "reason": "emissive",
+     "bound_prims": 1
+    }
+   ],
+   "unsupported": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "mdl": "OmniGlass.mdl",
+     "bound_prims": 1
+    }
+   ]
+  },
+  {
+   "env_ids": [
+    0
+   ],
+   "reset_index": 1,
+   "episode_seed": 2048,
+   "seeds": {
+    "0": 2048
+   },
+   "lights": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
+     "type": "RectLight",
+     "intensity": 20465.825109,
+     "intensity_base": 15000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 3946.963269,
+     "rotate_deg": [
+      -1.441,
+      0.553,
+      2.077
+     ]
+    }
+   ],
+   "domes": [
+    {
+     "path": "/World/background",
+     "type": "DomeLight",
+     "intensity": 1431.783681,
+     "intensity_base": 1000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 4416.182002,
+     "rotate_deg": [
+      0.0,
+      0.0,
+      86.437
+     ],
+     "dome": {
+      "path": "/World/background",
+      "hdr_base": null,
+      "color": [
+       0.760325,
+       0.77758,
+       0.8279
+      ]
+     }
+    }
+   ],
+   "materials": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "shader": "omnipbr",
+     "color": [
+      0.841,
+      0.9304,
+      0.8492
+     ],
+     "color_base": [
+      1.0,
+      1.0,
+      1.0
+     ],
+     "roughness": 0.540171,
+     "roughness_base": 0.5,
+     "bound_prims": 1
+    }
+   ],
+   "display_colors": [],
+   "swapped": [
+    {
+     "path": "/World/Characters/MagicGraph/Biped_Setup/biped_demo_meters/Looks/suit",
+     "role": "object",
+     "mdl": "Source/Masonry/Sandstone_Brick_Vintage.mdl",
+     "material": "/MmbVdrLooks/Source_Masonry_Sandstone_Brick_Vintage",
+     "bound_prims": 1,
+     "pool_size": 54,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor",
+     "role": "ground",
+     "mdl": "Ground/Cobblestone_Medieval.mdl",
+     "material": "/MmbVdrLooks/Ground_Cobblestone_Medieval",
+     "bound_prims": 1,
+     "pool_size": 42,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic",
+     "role": "wall",
+     "mdl": "Source/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl",
+     "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Concrete/Concrete_Formed.mdl",
+     "material": "/MmbVdrLooks/Source_Concrete_Concrete_Formed",
+     "bound_prims": 22,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
+     "role": "wall",
+     "mdl": "Source/Masonry/Facade_Brick_Grey.mdl",
+     "material": "/MmbVdrLooks/Source_Masonry_Facade_Brick_Grey",
+     "bound_prims": 10,
+     "pool_size": 28,
+     "bind_failed": 0
+    }
+   ],
+   "skipped": {
+    "unsupported_shader": 1,
+    "protected_material": 0,
+    "error": 0,
+    "instance_proxy": 0,
+    "no_swap": 2,
+    "bind_failed": 0
+   },
+   "keep_hits": {
+    "bank_left_*": 9,
+    "bank_right_*": 9,
+    "Person": 5
+   },
+   "physics_skip": {
+    "physics_binding": 102,
+    "rigid_body": 95,
+    "examples": [
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_1/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_2/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_3/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_4/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_5/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_6/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_7/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_1/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/front_laser/visuals/front_laser_visuals/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/front_laser/collisions/mesh_0/box",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/rear_laser/visuals/rear_laser_visuals/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/rear_laser/collisions/mesh_0/box",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh",
+      "rigid_body"
+     ],
+     [
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+}

N004/sawyer_umi/dr_on/seed_2048/report.json

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N004/sawyer_umi/dr_on/seed_2048/reports/N004_easy_s2048_e1_1110-001844.json

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+   "avatar_target": "bank_right",
+   "avatar_observed": "bank_right",
+   "coin_in_bank": "bank_right",
+   "cue_ray_error_deg": 0.0,
+   "avatar_event_times": {
+    "cue_start_tick": 15,
+    "cue_raised_tick": 165,
+    "observed_tick": 2508
+   },
+   "cue_error": null,
+   "cue_visible": true,
+   "cue_started": true,
+   "arm_pointing": true,
+   "arm_ext": 0.93,
+   "arm_down_deg": 57.7,
+   "arm_length_m": 0.489,
+   "wrist_to_goal_m": 0.01,
+   "angle_to_banks_deg": {
+    "bank_left": 16.6,
+    "bank_right": 0.0
+   }
+  },
+  "violations": [],
+  "full_success": true
+ },
+ "control_ticks": 2943,
+ "wall_s": 553.0,
+ "banks": {
+  "bank_left": {
+   "centre": [
+    0.9,
+    2.45
+   ],
+   "yaw_deg": 0.0,
+   "slot_len": 0.09,
+   "slot_w": 0.022,
+   "coin_thickness": 0.0092
+  },
+  "bank_right": {
+   "centre": [
+    0.9,
+    1.95
+   ],
+   "yaw_deg": 0.0,
+   "slot_len": 0.09,
+   "slot_w": 0.022,
+   "coin_thickness": 0.0092
+  }
+ },
+ "avatar_target": "bank_right"
+}

N004/stretch3/dr_off/seed_1029/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: 'Go to the holder, pick up the coin, carry it to the piggy banks, and drop it through the slot of the bank the person is pointing at.'; expected 'Go to the holder, pick up the coin, carry it to the piggy banks, and drop it through the slot of the bank the person is pointing at.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1361 rows vs ceil(2722/2) = 1361"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 81..2801, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "12.52 MB, 1361 frames at 25 fps, mean luma 115..157, std 12, new picture 1360x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1361 vs 1361"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "29.73 MB, 1361 frames at 25 fps, mean luma 127..191, std 32, new picture 1360x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1361 vs 1361"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "coinchain/000/sim_info"
+  }
+ }
+}

N004/stretch3/dr_off/seed_1029/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n004_str_off_1029/out  task=N004  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n004_str_off_1029/out/coinchain/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1361  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: 1361 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: 'Go to the holder, pick up the coin, carry it to the piggy banks, and drop it through the slot of the bank the person is pointing at.'; expected 'Go to the holder, pick up the coin, carry it to the piggy banks, and drop it through the slot of the bank the person is pointing at.'
+rows 1361 at dataset fps 25 = 54.44 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1361 rows vs ceil(2722/2) = 1361
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 81..2801, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 12.52 MB, 1361 frames at 25 fps, mean luma 115..157, std 12, new picture 1360x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1361 vs 1361
+[PASS] video observation.images.wrist decodes, 640x480, not black: 29.73 MB, 1361 frames at 25 fps, mean luma 127..191, std 32, new picture 1360x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1361 vs 1361
+parquet size 2.71 MB
+[PASS] sim_info present: coinchain/000/sim_info
+dataset size 45.39 MB; whole cell dir 46.7 MB
+RESULT: ALL PASS

N004/stretch3/dr_off/seed_1029/coinchain/000/completed/0.json

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

N004/stretch3/dr_off/seed_1029/coinchain/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3caf4716b2790c4ab62abea54cffef1f49d20f0a13f79b93f275afea7c08215
+size 2713174

N004/stretch3/dr_off/seed_1029/coinchain/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the holder, pick up the coin, carry it to the piggy banks, and drop it through the slot of the bank the person is pointing at."], "length": 1361, "magicsim/control_steps": 2722, "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 red bank left wall n. There are a large gray table A, a large gray table B, a large gray holder rail l, a large gray holder rail r, a large red bank left floor, a large red bank left wall n, a large red bank left wall s, a large red bank left wall e, a large red bank left wall w, a large red bank left plate n, a large red bank left plate s, a large red bank left plate e, a large red bank left plate w, a large gray bank right floor, a large gray bank right wall n, a large gray bank right wall s, a large gray bank right wall e, a large gray bank right wall w, a large gray bank right plate n, a large gray bank right plate s, a large gray bank right plate e, a large gray bank right plate w and a small orange coin. The gray table A is in front of the gray holder rail l. The gray table B is to the right of the red bank left wall s. The red bank left floor is to the right of the red bank left wall n. The red bank left plate n is on top of the red bank left wall n. The red bank left plate s is on top of the red bank left wall s. The red bank left plate e is on top of the red bank left wall e. The red bank left plate w is on top of the red bank left wall w. The gray bank right floor is to the right of the gray bank right wall n. The gray bank right plate n is on top of the gray bank right wall n. The gray bank right plate s is on top of the gray bank right wall s. The gray bank right plate e is on top of the gray bank right wall e. The gray bank right plate w is on top of the gray bank right wall w. The scene is viewed from front-left, slightly above table height."}