diff --git a/N004/sawyer_umi/dr_off/seed_1038/check.json b/N004/sawyer_umi/dr_off/seed_1038/check.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b5003a9ba9f6f2cf0c401152e804f9e62b4e3f9
--- /dev/null
+++ b/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"
+  }
+ }
+}
\ No newline at end of file
diff --git a/N004/sawyer_umi/dr_off/seed_1038/check.txt b/N004/sawyer_umi/dr_off/seed_1038/check.txt
new file mode 100644
index 0000000000000000000000000000000000000000..4e18bbdbed55eb20f4ee2d46f67f03b69b08cec6
--- /dev/null
+++ b/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
diff --git a/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/completed/0.json b/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/completed/0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed71c2c4b0b02bf0aff42e87e036a384f61c3116
--- /dev/null
+++ b/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}
\ No newline at end of file
diff --git a/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..725ffe0cfab3bf8a8283a0ce92b5a92711b54579
--- /dev/null
+++ b/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21a62b6f49a797598ab3b0dedb9b6c5388a8edc6a243e3b40623e95fe8925d41
+size 2364862
diff --git a/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/meta/episodes.jsonl b/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..28867e6ab9319702fc2d19b0049479932291c8aa
--- /dev/null
+++ b/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."}
diff --git a/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/meta/episodes_stats.jsonl b/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5fa06246b3593abdab67dc50a0f571e99c766f2e
--- /dev/null
+++ b/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"action": {"mean": [0.11529502649510663, 0.0007776558955037404, 0.0010035476562685317, 0.3504004455464227, 0.07759060753716363, 0.9115844409427946, -0.22616494887641497, 0.6023156175159272, -0.22488922337454462, -0.611698742120985, 0.5796825396825397], "std": [0.14091736182386494, 0.0056716322536367126, 0.2027106822241908, 0.8407140222559362, 1.8214143478168892, 0.23570651784827662, 0.2675610547832376, 0.09648598180324887, 0.2647490622758945, 0.10160804846601398, 0.49360985896732773], "min": [0.0, -0.025681115686893463, -0.800000011920929, -2.7409918308258057, -1.6705831289291382, 0.6028791069984436, -0.5116159915924072, 0.4942244589328766, -0.5002456903457642, -0.7172038555145264, 0.0], "max": [0.30000001192092896, 0.039853669703006744, 0.800000011920929, 0.9096832275390625, 2.723234176635742, 1.3033815622329712, 0.08477859944105148, 0.7029441595077515, 0.0858839899301529, -0.4987160861492157, 1.0], "count": [1575]}, "action_is_hold": {"mean": [0.0, 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diff --git a/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/meta/extra/episode_000000.json b/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/meta/extra/episode_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..36cbba7af6a9ded895088621b33decdff589469a
--- /dev/null
+++ b/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/meta/extra/episode_000000.json
@@ -0,0 +1,876 @@
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+   "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
+}
\ No newline at end of file
diff --git a/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/meta/info.json b/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..4955a9ad4d826ad1206af0cfc80f5e79da73f0a0
--- /dev/null
+++ b/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": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                11
+            ],
+            "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": {
+            "dtype": "bool",
+            "shape": [
+                11
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "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",
+            "shape": [
+                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"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                882
+            ],
+            "names": [
+                "avatar_motion.Person.joint_pos.0",
+                "avatar_motion.Person.joint_pos.1",
+                "avatar_motion.Person.joint_pos.2",
+                "avatar_motion.Person.joint_pos.3",
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+                "avatar_motion.Person.joint_pos.8",
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+                "avatar_motion.Person.joint_pos.10",
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+                "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"
+            ]
+        },
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+            "dtype": "float32",
+            "shape": [
+                800
+            ],
+            "names": null
+        },
+        "action.applied": {
+            "dtype": "float32",
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+                12
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+            "names": null
+        },
+        "narration": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "collect_info": {
+            "dtype": "string",
+            "shape": [
+                1
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+            "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",
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+            "names": null
+        },
+        "episode_index": {
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+            "names": null
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+        "task_index": {
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+            "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
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/meta/magicsim_manifest.json b/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/meta/magicsim_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..55cc13a35dae5cc4a109864f5bbfc415a76ddbb3
--- /dev/null
+++ b/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": {
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+                "end": 13,
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+                    "dummy_base_prismatic_y_joint",
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+                    "right_j2",
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+                    "right_j4",
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+                    "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"
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+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
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+    },
+    "lerobot": {
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+        "video_keys": [
+            "observation.images.head",
+            "observation.images.wrist"
+        ],
+        "columns": [
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+            "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"
+    }
+}
\ No newline at end of file
diff --git a/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/meta/stats.json b/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..aee124d95a6e6b0e7a5254f1ba016dc0dc1be187
--- /dev/null
+++ b/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/meta/stats.json
@@ -0,0 +1,7409 @@
+{
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diff --git a/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/meta/tasks.jsonl b/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/meta/tasks.jsonl
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index 0000000000000000000000000000000000000000..bb1132242edcb89c427af5c43ad9662582441d3b
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+++ b/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/meta/tasks.jsonl
@@ -0,0 +1 @@
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diff --git a/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4
new file mode 100644
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+++ b/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4
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diff --git a/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4
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diff --git a/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/run_meta.json b/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/run_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..113e0b069e61c223f009a7da17dc4c2c10003de3
--- /dev/null
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+                            "skill": "NavToPose",
+                            "station": "B",
+                            "retries": 1
+                        },
+                        {
+                            "name": "hold_B",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_hold"
+                            }
+                        },
+                        {
+                            "name": "look",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_offset"
+                            },
+                            "observe": true,
+                            "max_tries": 30
+                        },
+                        {
+                            "name": "pre_slot",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.08
+                            },
+                            "station": "B",
+                            "retries": 2
+                        },
+                        {
+                            "name": "align_a",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.08
+                            }
+                        },
+                        {
+                            "name": "align_b",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.08
+                            }
+                        },
+                        {
+                            "name": "down_slot",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "align_c",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "align_d",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "release",
+                            "skill": "Move",
+                            "hand": "open",
+                            "station": "B",
+                            "event": "release"
+                        },
+                        {
+                            "name": "retreat",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_offset",
+                                "dz": 0.1
+                            }
+                        },
+                        {
+                            "name": "settle",
+                            "skill": "Wait",
+                            "ticks": 120
+                        }
+                    ],
+                    "remap": {
+                        "MoveWhole:-1": [
+                            "Move",
+                            0
+                        ],
+                        "Move:4": [
+                            "Move",
+                            0
+                        ]
+                    }
+                }
+            }
+        },
+        "collect": {
+            "command": {
+                "MmbChain": null,
+                "CoinChain": {
+                    "robot_id": 0,
+                    "init_limit": 80,
+                    "settle_after_last": 400,
+                    "phases": [
+                        {
+                            "name": "nav_A",
+                            "skill": "NavToPose",
+                            "station": "A",
+                            "align": {
+                                "from": "holder.centre",
+                                "dy": 0.0
+                            },
+                            "retries": 1
+                        },
+                        {
+                            "name": "hold_A",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_hold"
+                            }
+                        },
+                        {
+                            "name": "open0",
+                            "skill": "Move",
+                            "hand": "open"
+                        },
+                        {
+                            "name": "pre_pinch",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_pinch",
+                                "tip_depth": 0.0343,
+                                "dz": 0.1
+                            },
+                            "station": "A",
+                            "retries": 2
+                        },
+                        {
+                            "name": "down",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_pinch",
+                                "tip_depth": 0.0343,
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "close",
+                            "skill": "Move",
+                            "hand": "close"
+                        },
+                        {
+                            "name": "lift",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_offset",
+                                "dz": 0.12
+                            },
+                            "station": "A",
+                            "event": "grasp"
+                        },
+                        {
+                            "name": "fold",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "base_point",
+                                "dx": 0.55,
+                                "dy": 0.0,
+                                "z": 0.68
+                            },
+                            "retries": 1
+                        },
+                        {
+                            "name": "nav_B",
+                            "skill": "NavToPose",
+                            "station": "B",
+                            "retries": 1
+                        },
+                        {
+                            "name": "hold_B",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_hold"
+                            }
+                        },
+                        {
+                            "name": "look",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_offset"
+                            },
+                            "observe": true,
+                            "max_tries": 30
+                        },
+                        {
+                            "name": "pre_slot",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.08
+                            },
+                            "station": "B",
+                            "retries": 2
+                        },
+                        {
+                            "name": "align_a",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.08
+                            }
+                        },
+                        {
+                            "name": "align_b",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.08
+                            }
+                        },
+                        {
+                            "name": "down_slot",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "align_c",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "align_d",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "release",
+                            "skill": "Move",
+                            "hand": "open",
+                            "station": "B",
+                            "event": "release"
+                        },
+                        {
+                            "name": "retreat",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_offset",
+                                "dz": 0.1
+                            }
+                        },
+                        {
+                            "name": "settle",
+                            "skill": "Wait",
+                            "ticks": 120
+                        }
+                    ],
+                    "remap": {
+                        "MoveWhole:-1": [
+                            "Move",
+                            0
+                        ],
+                        "Move:4": [
+                            "Move",
+                            0
+                        ]
+                    }
+                }
+            },
+            "auto_collect": {
+                "max_trajectories": 1
+            },
+            "record": {
+                "output_dir": "/mnt/scratch/xc536_atomic/n004_saw_off_1038/out",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            },
+            "global_planner": {
+                "NavTo": {
+                    "use_navmesh": true,
+                    "use_absolute": true,
+                    "translation_threshold": 0.06,
+                    "rotation_threshold": 0.1,
+                    "num_path_segments": 30,
+                    "start_forward_offset": 0.0,
+                    "visualize_path": false,
+                    "carry_arm": true
+                },
+                "MobileMoveL": {
+                    "translation_threshold": 0.006,
+                    "rotation_threshold": 0.2,
+                    "motiongen_distance_threshold": 0.05,
+                    "timeout_steps": 1800,
+                    "stall_release_ticks": 100,
+                    "stall_release_factor": 5.0,
+                    "debug": false,
+                    "debug_viz": false,
+                    "debug_sphere": false,
+                    "reactive": false,
+                    "base_pos_threshold": 0.12,
+                    "base_rot_threshold": 0.5,
+                    "eef_pos_threshold": 0.01,
+                    "eef_rot_threshold": 0.1,
+                    "waypoint_max_steps": 20,
+                    "interp_steps": 60,
+                    "retry_mobile_on_locked_plan_failure": true
+                },
+                "ParallelGripper": {
+                    "gripper_threshold": 0.0005,
+                    "timeout_steps": 100
+                }
+            },
+            "atomic_skill": {
+                "NavToPose": {
+                    "robot_id": 0
+                },
+                "Move": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "arm_planner": "MobileMoveL",
+                    "hand_planner": "ParallelGripper",
+                    "open_value": 0.0,
+                    "close_value": 1.0,
+                    "hold_steps": 25,
+                    "ramp_steps": 0
+                },
+                "MoveWhole": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "arm_planner": "MobileMoveL",
+                    "hand_planner": "ParallelGripper",
+                    "open_value": 0.0,
+                    "close_value": 1.0,
+                    "hold_steps": 25,
+                    "ramp_steps": 0
+                }
+            }
+        },
+        "visual_dr": {
+            "keep": [
+                "bank_left_*",
+                "bank_right_*",
+                "Person"
+            ]
+        }
+    },
+    "git_sha": null,
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}
\ No newline at end of file
diff --git a/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/sim_info/0/actions.npz b/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/sim_info/0/actions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..48f47e095847ff7092876908ca72cdab7b7f1df7
--- /dev/null
+++ b/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/sim_info/0/actions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc193cd79f5e57967b797cd7a7c3d13229b78041eb6fd6b09a62881c9615a951
+size 408503
diff --git a/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/sim_info/0/device_commands.jsonl b/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/sim_info/0/device_commands.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/sim_info/0/device_events.jsonl b/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/sim_info/0/device_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/sim_info/0/scene_snapshot.json b/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/sim_info/0/scene_snapshot.json
new file mode 100644
index 0000000000000000000000000000000000000000..4afd210f1bc7e2eae26b3e382ccca0e1266c0661
--- /dev/null
+++ b/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/sim_info/0/scene_snapshot.json
@@ -0,0 +1,2743 @@
+{
+    "trajectory_id": 0,
+    "env_id": 0,
+    "run_id": "coinchain/000",
+    "task_type": "MmbChain",
+    "success": true,
+    "timing": {
+        "fps": 50.0,
+        "sim_dt": 0.005,
+        "decimation": 4
+    },
+    "restore_interface": {
+        "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
+    },
+    "snapshot": {
+        "env_id": 0,
+        "scene": {
+            "objects": [
+                {
+                    "table_A": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    1.0,
+                                    -1.6,
+                                    0.18
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.5,
+                                    0.8,
+                                    0.3
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.78,
+                                        0.72,
+                                        0.62
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 1.0,
+                                        "dynamic_friction": 1.0,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1.0,
+                                        1.0,
+                                        1.0
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "table_B": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    1.0,
+                                    2.2,
+                                    0.18
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.5,
+                                    1.0,
+                                    0.3
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.62,
+                                        0.72,
+                                        0.78
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 1.0,
+                                        "dynamic_friction": 1.0,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1.0,
+                                        1.0,
+                                        1.0
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "holder_rail_l": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    0.8776445173172795,
+                                    -1.5822550846190153,
+                                    0.3425
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.09,
+                                    0.02,
+                                    0.025
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.45,
+                                        0.45,
+                                        0.5
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 0.8,
+                                        "dynamic_friction": 0.8,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1.0,
+                                        1.0,
+                                        1.0
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "holder_rail_r": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    0.8776445173172795,
+                                    -1.6154550846190152,
+                                    0.3425
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.09,
+                                    0.02,
+                                    0.025
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.45,
+                                        0.45,
+                                        0.5
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 0.8,
+                                        "dynamic_friction": 0.8,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1.0,
+                                        1.0,
+                                        1.0
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "bank_left_floor": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    0.9,
+                                    2.45,
+                                    0.335
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.16,
+                                    0.12,
+                                    0.01
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.8,
+                                        0.25,
+                                        0.25
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 1.0,
+                                        "dynamic_friction": 1.0,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1.0,
+                                        1.0,
+                                        1.0
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "bank_left_wall_n": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    0.9,
+                                    2.5050000000000003,
+                                    0.39
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.16,
+                                    0.01,
+                                    0.1
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.8,
+                                        0.25,
+                                        0.25
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 1.0,
+                                        "dynamic_friction": 1.0,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1.0,
+                                        1.0,
+                                        1.0
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "bank_left_wall_s": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    0.9,
+                                    2.395,
+                                    0.39
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.16,
+                                    0.01,
+                                    0.1
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.8,
+                                        0.25,
+                                        0.25
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 1.0,
+                                        "dynamic_friction": 1.0,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1.0,
+                                        1.0,
+                                        1.0
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "bank_left_wall_e": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
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+                "asset": [
+                    "usd",
+                    "/mnt/scratch/xc536_atomic_local/repo_b3820fd82/Assets/Avatar/Medical/F_Medical_01/F_Medical_01.usd"
+                ],
+                "scale": [
+                    1.0,
+                    1.0,
+                    1.0
+                ],
+                "joint_names": [
+                    "RL_BoneRoot",
+                    "Hip",
+                    "Pelvis",
+                    "L_Thigh",
+                    "L_Calf",
+                    "L_Foot",
+                    "L_ToeBaseShareBone",
+                    "L_ToeBase",
+                    "L_PinkyToe1",
+                    "L_RingToe1",
+                    "L_MidToe1",
+                    "L_IndexToe1",
+                    "L_BigToe1",
+                    "L_CalfTwist01",
+                    "L_CalfTwist02",
+                    "L_KneeShareBone",
+                    "L_ThighTwist01",
+                    "L_ThighTwist02",
+                    "R_Thigh",
+                    "R_Calf",
+                    "R_KneeShareBone",
+                    "R_Foot",
+                    "R_ToeBase",
+                    "R_BigToe1",
+                    "R_PinkyToe1",
+                    "R_RingToe1",
+                    "R_IndexToe1",
+                    "R_MidToe1",
+                    "R_ToeBaseShareBone",
+                    "R_CalfTwist01",
+                    "R_CalfTwist02",
+                    "R_ThighTwist01",
+                    "R_ThighTwist02",
+                    "Waist",
+                    "Spine01",
+                    "Spine02",
+                    "NeckTwist01",
+                    "NeckTwist02",
+                    "Head",
+                    "FacialBone",
+                    "JawRoot",
+                    "Tongue01",
+                    "Tongue02",
+                    "Tongue03",
+                    "Teeth02",
+                    "R_Eye",
+                    "L_Eye",
+                    "UpperJaw",
+                    "Teeth01",
+                    "L_Clavicle",
+                    "L_Upperarm",
+                    "L_Forearm",
+                    "L_ForearmTwist01",
+                    "L_ForearmTwist02",
+                    "L_ElbowShareBone",
+                    "L_Hand",
+                    "L_Pinky1",
+                    "L_Pinky2",
+                    "L_Pinky3",
+                    "L_Ring1",
+                    "L_Ring2",
+                    "L_Ring3",
+                    "L_Mid1",
+                    "L_Mid2",
+                    "L_Mid3",
+                    "L_Index1",
+                    "L_Index2",
+                    "L_Index3",
+                    "L_Thumb1",
+                    "L_Thumb2",
+                    "L_Thumb3",
+                    "L_UpperarmTwist01",
+                    "L_UpperarmTwist02",
+                    "L_RibsTwist",
+                    "L_Breast",
+                    "R_RibsTwist",
+                    "R_Breast",
+                    "R_Clavicle",
+                    "R_Upperarm",
+                    "R_Forearm",
+                    "R_ElbowShareBone",
+                    "R_ForearmTwist01",
+                    "R_ForearmTwist02",
+                    "R_Hand",
+                    "R_Ring1",
+                    "R_Ring2",
+                    "R_Ring3",
+                    "R_Mid1",
+                    "R_Mid2",
+                    "R_Mid3",
+                    "R_Thumb1",
+                    "R_Thumb2",
+                    "R_Thumb3",
+                    "R_Index1",
+                    "R_Index2",
+                    "R_Index3",
+                    "R_Pinky1",
+                    "R_Pinky2",
+                    "R_Pinky3",
+                    "R_UpperarmTwist01",
+                    "R_UpperarmTwist02"
+                ],
+                "start_state": {
+                    "asset": [
+                        "usd",
+                        "/mnt/scratch/xc536_atomic_local/repo_b3820fd82/Assets/Avatar/Medical/F_Medical_01/F_Medical_01.usd"
+                    ],
+                    "pose": {
+                        "pos": [
+                            2.201829195022583,
+                            2.19793963432312,
+                            0.029999999329447746
+                        ],
+                        "ori": [
+                            -0.0005585587350651622,
+                            0.0,
+                            0.0,
+                            0.9999998807907104
+                        ],
+                        "scale": [
+                            1.0,
+                            1.0,
+                            1.0
+                        ]
+                    },
+                    "type_specific": {
+                        "action_queue": {
+                            "queue": [],
+                            "loop": false,
+                            "current": null
+                        },
+                        "character_state": {
+                            "Action": "None",
+                            "Walk": 0.0,
+                            "PathPoints": [],
+                            "lookAround": 0.0,
+                            "SitWeight": 1.0,
+                            "MotionInPlace": 1.0
+                        },
+                        "control_state": {
+                            "mode": "joint",
+                            "ik_backend": "animgraph",
+                            "curobo_base": null,
+                            "joint_names": [
+                                "RL_BoneRoot",
+                                "RL_BoneRoot/Hip",
+                                "RL_BoneRoot/Hip/Pelvis",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBaseShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_PinkyToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_RingToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_MidToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_IndexToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_BigToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_CalfTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_CalfTwist01/L_CalfTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_KneeShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_ThighTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_ThighTwist01/L_ThighTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_KneeShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_BigToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_PinkyToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_RingToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_IndexToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_MidToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBaseShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_CalfTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_CalfTwist01/R_CalfTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_ThighTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_ThighTwist01/R_ThighTwist02",
+                                "RL_BoneRoot/Hip/Waist",
+                                "RL_BoneRoot/Hip/Waist/Spine01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01/Tongue02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01/Tongue02/Tongue03",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Teeth02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/R_Eye",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/L_Eye",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/UpperJaw",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/UpperJaw/Teeth01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ForearmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ForearmTwist01/L_ForearmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ElbowShareBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1/L_Pinky2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1/L_Pinky2/L_Pinky3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1/L_Ring2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1/L_Ring2/L_Ring3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1/L_Mid2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1/L_Mid2/L_Mid3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1/L_Index2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1/L_Index2/L_Index3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1/L_Thumb2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1/L_Thumb2/L_Thumb3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_UpperarmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_UpperarmTwist01/L_UpperarmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_RibsTwist",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_RibsTwist/L_Breast",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_RibsTwist",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_RibsTwist/R_Breast",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ElbowShareBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ForearmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ForearmTwist01/R_ForearmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Ring1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Ring1/R_Ring2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Ring1/R_Ring2/R_Ring3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1/R_Mid2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1/R_Mid2/R_Mid3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Thumb1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Thumb1/R_Thumb2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Thumb1/R_Thumb2/R_Thumb3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Index1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Index1/R_Index2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Index1/R_Index2/R_Index3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Pinky1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Pinky1/R_Pinky2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Pinky1/R_Pinky2/R_Pinky3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_UpperarmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_UpperarmTwist01/R_UpperarmTwist02"
+                            ],
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diff --git a/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/sim_info/0/sim_states.npz b/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/sim_info/0/sim_states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..357f660d38f5b9be36e36a2859b564e6851adbdc
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+size 659150
diff --git a/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/sim_info/magicsim_manifest.json b/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/sim_info/magicsim_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..fcb3f24b42dfa5da34feca583fd1fbd8d35fdb45
--- /dev/null
+++ b/N004/sawyer_umi/dr_off/seed_1038/coinchain/000/sim_info/magicsim_manifest.json
@@ -0,0 +1,233 @@
+{
+    "schema_version": 1,
+    "generated": {
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+    },
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+        "robots": [
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+                "name": "RidgebackSawyerUmi",
+                "cfg": "RidgebackSawyerUmiCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
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+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
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+        "nan_policy": "from_raw",
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+            }
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+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
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+    "cameras": {
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+}
\ No newline at end of file
diff --git a/N004/sawyer_umi/dr_off/seed_1038/report.json b/N004/sawyer_umi/dr_off/seed_1038/report.json
new file mode 100644
index 0000000000000000000000000000000000000000..b78061dd6ce74302ad17a61b94074bbdfaa03635
--- /dev/null
+++ b/N004/sawyer_umi/dr_off/seed_1038/report.json
@@ -0,0 +1,92 @@
+{
+ "live_episode": null,
+ "run": "n004_coin_bank-1110-000849",
+ "task": "N004",
+ "level": "easy",
+ "episodes_finished": 1,
+ "episodes_success": 1,
+ "stop_reason": "episodes_done",
+ "driver_steps": 3229,
+ "wall_s": 702.8,
+ "reports": [
+  "/mnt/scratch/xc536_atomic/n004_saw_off_1038/out/reports/N004_easy_s1038_e1_1110-002009.json"
+ ],
+ "failure_reasons": [
+  null
+ ],
+ "record": {
+  "run_dir": "/mnt/scratch/xc536_atomic/n004_saw_off_1038/out/coinchain/000",
+  "formats": [
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+   "sim_info"
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+  "committed": 1,
+  "save_errors": {},
+  "trajectories": {
+   "0": true
+  },
+  "files_ok": true
+ },
+ "collect": {
+  "task": "N004",
+  "robot": "sawyer_umi",
+  "visual_dr": false,
+  "env": {
+   "MMB_COLLECT": "1",
+   "MMB_TASK_ID": "N004",
+   "MMB_CLEAN_VIEW": "1",
+   "MMB_REAL_ROBOT_LOOK": "1",
+   "MMB_VISUAL_DR": "0"
+  },
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+    "pos": [
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+    "horizontal_aperture": 3.6,
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+    "ori": [
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+    "horizontal_aperture": 3.6,
+    "vertical_aperture": 2.7
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+  },
+  "resolution": [
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+  ],
+  "camera_hz": 25,
+  "record": {
+   "formats": [
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+   "clear_buffer_on_failure": true,
+   "lerobot": {
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+ }
+}
\ No newline at end of file
diff --git a/N004/sawyer_umi/dr_off/seed_1038/reports/N004_easy_s1038_e1_1110-002009.json b/N004/sawyer_umi/dr_off/seed_1038/reports/N004_easy_s1038_e1_1110-002009.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4d70a943b4596fc02c68e7499f7340b9a14994f
--- /dev/null
+++ b/N004/sawyer_umi/dr_off/seed_1038/reports/N004_easy_s1038_e1_1110-002009.json
@@ -0,0 +1,2000 @@
+{
+ "task_id": "N004",
+ "task_version": "EXT60-MobileAvatar-v3",
+ "agent_id": "a00",
+ "family_id": "coin_slot_insertion",
+ "primary_category": "C4",
+ "level": "easy",
+ "embodiment": "sawyer_umi",
+ "scene_seed": 1038,
+ "domain_randomization": {
+  "enabled": true,
+  "seed": 1038,
+  "applied": [
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+    "draw": [
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+   "station": "A",
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+   "zone": null,
+   "path_length": 6.357
+  },
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+   "event": "release",
+   "tick": 3196,
+   "base": [
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+   "zone": "B",
+   "path_length": 7.278,
+   "station": "B",
+   "phase": "release"
+  }
+ ],
+ "transport_state": {
+  "coin_ever_lifted_and_held": true,
+  "coin_max_lift_m": 0.25,
+  "coin_dropped_outside_cavity": false,
+  "coin_pos": [
+   0.899,
+   2.468,
+   0.367
+  ],
+  "material_loss": 0.0
+ },
+ "manipulation_success": true,
+ "mobile_success": true,
+ "full_success": true,
+ "failure_reason": null,
+ "fail_class": null,
+ "distance_to_first_interaction": 3.51,
+ "interstation_path_lengths": {
+  "A->B": 3.767
+ },
+ "station_transition_order": [
+  "A",
+  "B"
+ ],
+ "final_approach_pose": [
+  0.237,
+  2.169,
+  0.099
+ ],
+ "regrasp_events": [],
+ "material_loss_during_transport": 0.0,
+ "path_length": 7.278,
+ "max_step_per_tick": 0.006,
+ "base_jumps": 0,
+ "status": {
+  "mobile_success": true,
+  "mobile_reason": "ok",
+  "manipulation_success": true,
+  "manipulation_reason": "coin dropped through the slot, resting in the cavity",
+  "manipulation_details": {
+   "coin_pos": [
+    0.8994,
+    2.4679,
+    0.3666
+   ],
+   "coin_in_cavity_of": "bank_left",
+   "slot_crossings": {
+    "bank_left": {
+     "tick": 3175,
+     "tilt_deg": 0.4
+    }
+   },
+   "hand_to_coin_m": 0.232,
+   "coin_at_rest": true,
+   "coin_carried": true,
+   "coin_max_lift_m": 0.25
+  },
+  "avatar_ok": true,
+  "avatar_details": {
+   "avatar_target": "bank_left",
+   "avatar_observed": "bank_left",
+   "coin_in_bank": "bank_left",
+   "cue_ray_error_deg": 0.0,
+   "avatar_event_times": {
+    "cue_start_tick": 40,
+    "cue_raised_tick": 190,
+    "observed_tick": 2623
+   },
+   "cue_error": null,
+   "cue_visible": true,
+   "cue_started": true,
+   "arm_pointing": true,
+   "arm_ext": 0.93,
+   "arm_down_deg": 58.0,
+   "arm_length_m": 0.489,
+   "wrist_to_goal_m": 0.01,
+   "angle_to_banks_deg": {
+    "bank_left": 0.0,
+    "bank_right": 16.6
+   }
+  },
+  "violations": [],
+  "full_success": true
+ },
+ "control_ticks": 3149,
+ "wall_s": 564.5,
+ "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_left"
+}
\ No newline at end of file
diff --git a/N004/sawyer_umi/dr_on/seed_2048/check.json b/N004/sawyer_umi/dr_on/seed_2048/check.json
new file mode 100644
index 0000000000000000000000000000000000000000..5f709b4a2f82e1c148b907c1b54e9f5617a60020
--- /dev/null
+++ b/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"
+  }
+ }
+}
\ No newline at end of file
diff --git a/N004/sawyer_umi/dr_on/seed_2048/check.txt b/N004/sawyer_umi/dr_on/seed_2048/check.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1ac43688c953e081db873fc8e3025c7b7b48293b
--- /dev/null
+++ b/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
diff --git a/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/completed/0.json b/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/completed/0.json
new file mode 100644
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--- /dev/null
+++ b/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/completed/0.json
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\ No newline at end of file
diff --git a/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/data/chunk-000/episode_000000.parquet
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diff --git a/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/meta/episodes.jsonl b/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/meta/episodes.jsonl
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--- /dev/null
+++ b/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/meta/episodes.jsonl
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+{"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."}
diff --git a/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/meta/episodes_stats.jsonl b/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/meta/episodes_stats.jsonl
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diff --git a/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/meta/extra/episode_000000.json b/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/meta/extra/episode_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c23a05f14e60edd7218637ebce391200f9256b2
--- /dev/null
+++ b/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/meta/extra/episode_000000.json
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+      "extent": [
+       1.0,
+       1.0,
+       1.0
+      ],
+      "center": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "bank_right_floor_1",
+     "cat_name": "bank_right_floor",
+     "inst_id": 1,
+     "noun": "bank right floor",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      4.381361280961215,
+      2.786956073640209,
+      0.27500003758748887
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       0.9999999999999982,
+       1.0
+      ],
+      "center": [
+       0.0,
+       -2.6645352591003757e-15,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "bank_right_wall_n_1",
+     "cat_name": "bank_right_wall_n",
+     "inst_id": 1,
+     "noun": "bank right wall n",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      4.388858837456252,
+      2.841442646818856,
+      0.3300000374952311
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0,
+       1.0
+      ],
+      "center": [
+       0.0,
+       -2.842170943040401e-14,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "bank_right_wall_s_1",
+     "cat_name": "bank_right_wall_s",
+     "inst_id": 1,
+     "noun": "bank right wall s",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      4.3738637234415325,
+      2.732469500788811,
+      0.3300000376797466
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0,
+       1.0
+      ],
+      "center": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "bank_right_wall_e_1",
+     "cat_name": "bank_right_wall_e",
+     "inst_id": 1,
+     "noun": "bank right wall e",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      4.455661152742104,
+      2.776732132430161,
+      0.33000003831000657
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0,
+       1.0000000000000004
+      ],
+      "center": [
+       1.4210854715202004e-14,
+       0.0,
+       6.661338147750939e-16
+      ]
+     }
+    },
+    {
+     "id": "bank_right_wall_w_1",
+     "cat_name": "bank_right_wall_w",
+     "inst_id": 1,
+     "noun": "bank right wall w",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      4.307061408155679,
+      2.797180015177506,
+      0.33000003686497115
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0,
+       1.0000000000000004
+      ],
+      "center": [
+       -1.4210854715202004e-14,
+       0.0,
+       6.661338147750939e-16
+      ]
+     }
+    },
+    {
+     "id": "bank_right_plate_n_1",
+     "cat_name": "bank_right_plate_n",
+     "inst_id": 1,
+     "noun": "bank right plate n",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      4.386200612177459,
+      2.8221246801892206,
+      0.38600003752794065
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0,
+       1.0
+      ],
+      "center": [
+       0.0,
+       -7.105427357601002e-15,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "bank_right_plate_s_1",
+     "cat_name": "bank_right_plate_s",
+     "inst_id": 1,
+     "noun": "bank right plate s",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      4.376521947677048,
+      2.751787467751646,
+      0.386000037647037
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0,
+       1.0
+      ],
+      "center": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "bank_right_plate_e_1",
+     "cat_name": "bank_right_plate_e",
+     "inst_id": 1,
+     "noun": "bank right plate e",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      4.443277840171597,
+      2.778436122825706,
+      0.38600003818958695
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0,
+       1.0
+      ],
+      "center": [
+       -3.552713678800501e-15,
+       -1.4210854715202004e-14,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "bank_right_plate_w_1",
+     "cat_name": "bank_right_plate_w",
+     "inst_id": 1,
+     "noun": "bank right plate w",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      4.3194447196829096,
+      2.7954760251151605,
+      0.38600003698539076
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0,
+       1.0
+      ],
+      "center": [
+       0.0,
+       -1.4210854715202004e-14,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "coin_1",
+     "cat_name": "coin",
+     "inst_id": 1,
+     "noun": "coin",
+     "color": "orange",
+     "size": "small",
+     "material": null,
+     "category": "rigid",
+     "pos": [
+      3.883129672414485,
+      -0.7185367987184299,
+      0.30720590160588956
+     ],
+     "bbox": {
+      "extent": [
+       0.0948451510471933,
+       0.09487744788796504,
+       0.009830020685041432
+      ],
+      "center": [
+       1.0755285551056204e-16,
+       0.0,
+       -7.806255641895632e-17
+      ]
+     }
+    }
+   ],
+   "relations": [
+    {
+     "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": "right_of",
+     "object": "bank_left_wall_n_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": {
+      "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_robot": [
+      3.438518373299963,
+      0.9483199465660815,
+      -0.10499996751327556
+     ],
+     "viewpoint": "front, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        -8.039232568535226e-08,
+        -0.9999999999999964,
+        2.5347603738179458e-08
+       ],
+       [
+        0.8191520331270514,
+        -8.039232568535226e-08,
+        -0.5735764522919431
+       ],
+       [
+        0.5735764522919431,
+        -2.5347603738179458e-08,
+        0.819152033127055
+       ]
+      ],
+      "t": [
+       1.855362002599171e-08,
+       -0.2032392724571752,
+       -0.08737481710326404
+      ]
+     }
+    },
+    {
+     "name": "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_robot": [
+      3.2831821044180254,
+      0.9696948004746054,
+      -0.029999967906232192
+     ],
+     "viewpoint": "front, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        0.0,
+        1.0,
+        -1.4782795217992896e-16
+       ],
+       [
+        1.0,
+        0.0,
+        2.5363269588459423e-17
+       ],
+       [
+        2.5363269588459423e-17,
+        -1.4782795217992896e-16,
+        -1.0
+       ]
+      ],
+      "t": [
+       4.4348384662715026e-18,
+       -0.05979999899864197,
+       0.029999999329447746
+      ]
+     }
+    }
+   ],
+   "robots": [
+    {
+     "name": "RidgebackSawyerUmi",
+     "model": "ridgebacksawyer_umi",
+     "type": "mobilemanip",
+     "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
+       -3.060781928999992,
+       -1.4081069051637123,
+       0.06
+      ],
+      "ori": [
+       0.9976429343223572,
+       0.0,
+       0.0,
+       0.06861869990825653
+      ]
+     },
+     "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
+}
\ No newline at end of file
diff --git a/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/meta/info.json b/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbba27e4b5068467cfb61887b222feeee4ca4995
--- /dev/null
+++ b/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": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                11
+            ],
+            "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": {
+            "dtype": "bool",
+            "shape": [
+                11
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "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",
+            "shape": [
+                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"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                882
+            ],
+            "names": [
+                "avatar_motion.Person.joint_pos.0",
+                "avatar_motion.Person.joint_pos.1",
+                "avatar_motion.Person.joint_pos.2",
+                "avatar_motion.Person.joint_pos.3",
+                "avatar_motion.Person.joint_pos.4",
+                "avatar_motion.Person.joint_pos.5",
+                "avatar_motion.Person.joint_pos.6",
+                "avatar_motion.Person.joint_pos.7",
+                "avatar_motion.Person.joint_pos.8",
+                "avatar_motion.Person.joint_pos.9",
+                "avatar_motion.Person.joint_pos.10",
+                "avatar_motion.Person.joint_pos.11",
+                "avatar_motion.Person.joint_pos.12",
+                "avatar_motion.Person.joint_pos.13",
+                "avatar_motion.Person.joint_pos.14",
+                "avatar_motion.Person.joint_pos.15",
+                "avatar_motion.Person.joint_pos.16",
+                "avatar_motion.Person.joint_pos.17",
+                "avatar_motion.Person.joint_pos.18",
+                "avatar_motion.Person.joint_pos.19",
+                "avatar_motion.Person.joint_pos.20",
+                "avatar_motion.Person.joint_pos.21",
+                "avatar_motion.Person.joint_pos.22",
+                "avatar_motion.Person.joint_pos.23",
+                "avatar_motion.Person.joint_pos.24",
+                "avatar_motion.Person.joint_pos.25",
+                "avatar_motion.Person.joint_pos.26",
+                "avatar_motion.Person.joint_pos.27",
+                "avatar_motion.Person.joint_pos.28",
+                "avatar_motion.Person.joint_pos.29",
+                "avatar_motion.Person.joint_pos.30",
+                "avatar_motion.Person.joint_pos.31",
+                "avatar_motion.Person.joint_pos.32",
+                "avatar_motion.Person.joint_pos.33",
+                "avatar_motion.Person.joint_pos.34",
+                "avatar_motion.Person.joint_pos.35",
+                "avatar_motion.Person.joint_pos.36",
+                "avatar_motion.Person.joint_pos.37",
+                "avatar_motion.Person.joint_pos.38",
+                "avatar_motion.Person.joint_pos.39",
+                "avatar_motion.Person.joint_pos.40",
+                "avatar_motion.Person.joint_pos.41",
+                "avatar_motion.Person.joint_pos.42",
+                "avatar_motion.Person.joint_pos.43",
+                "avatar_motion.Person.joint_pos.44",
+                "avatar_motion.Person.joint_pos.45",
+                "avatar_motion.Person.joint_pos.46",
+                "avatar_motion.Person.joint_pos.47",
+                "avatar_motion.Person.joint_pos.48",
+                "avatar_motion.Person.joint_pos.49",
+                "avatar_motion.Person.joint_pos.50",
+                "avatar_motion.Person.joint_pos.51",
+                "avatar_motion.Person.joint_pos.52",
+                "avatar_motion.Person.joint_pos.53",
+                "avatar_motion.Person.joint_pos.54",
+                "avatar_motion.Person.joint_pos.55",
+                "avatar_motion.Person.joint_pos.56",
+                "avatar_motion.Person.joint_pos.57",
+                "avatar_motion.Person.joint_pos.58",
+                "avatar_motion.Person.joint_pos.59",
+                "avatar_motion.Person.joint_pos.60",
+                "avatar_motion.Person.joint_pos.61",
+                "avatar_motion.Person.joint_pos.62",
+                "avatar_motion.Person.joint_pos.63",
+                "avatar_motion.Person.joint_pos.64",
+                "avatar_motion.Person.joint_pos.65",
+                "avatar_motion.Person.joint_pos.66",
+                "avatar_motion.Person.joint_pos.67",
+                "avatar_motion.Person.joint_pos.68",
+                "avatar_motion.Person.joint_pos.69",
+                "avatar_motion.Person.joint_pos.70",
+                "avatar_motion.Person.joint_pos.71",
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+                "avatar_motion.Person.joint_rot.254",
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+                "avatar_motion.Person.joint_rot.257",
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+                "avatar_motion.Person.joint_rot.260",
+                "avatar_motion.Person.joint_rot.261",
+                "avatar_motion.Person.joint_rot.262",
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+                "avatar_motion.Person.joint_rot.264",
+                "avatar_motion.Person.joint_rot.265",
+                "avatar_motion.Person.joint_rot.266",
+                "avatar_motion.Person.joint_rot.267",
+                "avatar_motion.Person.joint_rot.268",
+                "avatar_motion.Person.joint_rot.269",
+                "avatar_motion.Person.joint_rot.270",
+                "avatar_motion.Person.joint_rot.271",
+                "avatar_motion.Person.joint_rot.272",
+                "avatar_motion.Person.joint_rot.273",
+                "avatar_motion.Person.joint_rot.274",
+                "avatar_motion.Person.joint_rot.275",
+                "avatar_motion.Person.joint_rot.276",
+                "avatar_motion.Person.joint_rot.277",
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+                "avatar_motion.Person.joint_rot.279",
+                "avatar_motion.Person.joint_rot.280",
+                "avatar_motion.Person.joint_rot.281",
+                "avatar_motion.Person.joint_rot.282",
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+                "avatar_motion.Person.joint_rot.284",
+                "avatar_motion.Person.joint_rot.285",
+                "avatar_motion.Person.joint_rot.286",
+                "avatar_motion.Person.joint_rot.287",
+                "avatar_motion.Person.joint_rot.288",
+                "avatar_motion.Person.joint_rot.289",
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+                "avatar_motion.Person.joint_rot.291",
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+                "avatar_motion.Person.joint_rot.294",
+                "avatar_motion.Person.joint_rot.295",
+                "avatar_motion.Person.joint_rot.296",
+                "avatar_motion.Person.joint_rot.297",
+                "avatar_motion.Person.joint_rot.298",
+                "avatar_motion.Person.joint_rot.299",
+                "avatar_motion.Person.joint_rot.300",
+                "avatar_motion.Person.joint_rot.301",
+                "avatar_motion.Person.joint_rot.302",
+                "avatar_motion.Person.joint_rot.303",
+                "avatar_motion.Person.joint_rot.304",
+                "avatar_motion.Person.joint_rot.305",
+                "avatar_motion.Person.joint_rot.306",
+                "avatar_motion.Person.joint_rot.307",
+                "avatar_motion.Person.joint_rot.308",
+                "avatar_motion.Person.joint_rot.309",
+                "avatar_motion.Person.joint_rot.310",
+                "avatar_motion.Person.joint_rot.311",
+                "avatar_motion.Person.joint_rot.312",
+                "avatar_motion.Person.joint_rot.313",
+                "avatar_motion.Person.joint_rot.314",
+                "avatar_motion.Person.joint_rot.315",
+                "avatar_motion.Person.joint_rot.316",
+                "avatar_motion.Person.joint_rot.317",
+                "avatar_motion.Person.joint_rot.318",
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+                "avatar_motion.Person.joint_rot.320",
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+                "avatar_motion.Person.joint_rot.323",
+                "avatar_motion.Person.joint_rot.324",
+                "avatar_motion.Person.joint_rot.325",
+                "avatar_motion.Person.joint_rot.326",
+                "avatar_motion.Person.joint_rot.327",
+                "avatar_motion.Person.joint_rot.328",
+                "avatar_motion.Person.joint_rot.329",
+                "avatar_motion.Person.joint_rot.330",
+                "avatar_motion.Person.joint_rot.331",
+                "avatar_motion.Person.joint_rot.332",
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+                "avatar_motion.Person.joint_rot.334",
+                "avatar_motion.Person.joint_rot.335",
+                "avatar_motion.Person.joint_rot.336",
+                "avatar_motion.Person.joint_rot.337",
+                "avatar_motion.Person.joint_rot.338",
+                "avatar_motion.Person.joint_rot.339",
+                "avatar_motion.Person.joint_rot.340",
+                "avatar_motion.Person.joint_rot.341",
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+                "avatar_motion.Person.joint_rot.343",
+                "avatar_motion.Person.joint_rot.344",
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+                "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
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/meta/magicsim_manifest.json b/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/meta/magicsim_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6c41eca88da8f0f2b59fd38b967cc90a383e3c5
--- /dev/null
+++ b/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": [
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+                "name": "RidgebackSawyerUmi.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
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+                    "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": [
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+                "source": "BinaryJointPositionAction",
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+                "end": 13,
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+                    "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",
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+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
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+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
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+                "source": "ObservationManager",
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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)"
+    },
+    "cameras": {
+        "head": {
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+    },
+    "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"
+    }
+}
\ No newline at end of file
diff --git a/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/meta/stats.json b/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a5026dc1dd6349b521ae46112fe2fccc6c19658
--- /dev/null
+++ b/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/meta/stats.json
@@ -0,0 +1,7409 @@
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+}
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diff --git a/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/meta/tasks.jsonl b/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..bb1132242edcb89c427af5c43ad9662582441d3b
--- /dev/null
+++ b/N004/sawyer_umi/dr_on/seed_2048/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."}
diff --git a/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..39191d028dcab41249603673a1e2b1005dea0031
--- /dev/null
+++ b/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4
@@ -0,0 +1,3 @@
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+oid sha256:bd63dba7b47e4e754748fabd435ba017d345b949d384beed7cf7b032894601cd
+size 42643049
diff --git a/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4
new file mode 100644
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+++ b/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4
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+version https://git-lfs.github.com/spec/v1
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diff --git a/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/run_meta.json b/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/run_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..11e72a5efd5eb537445b7ea2edfdaaf924d27203
--- /dev/null
+++ b/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/run_meta.json
@@ -0,0 +1,2370 @@
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+                "family_id": "coin_slot_insertion",
+                "primary_category": "C4",
+                "level": "easy",
+                "embodiment": "sawyer_umi",
+                "execution_mode": "full_chain",
+                "order": [
+                    "A",
+                    "B"
+                ],
+                "success_hold_frames": 3,
+                "floor_z": 0.03,
+                "far_start_min": 1.5,
+                "min_transition": 2.0,
+                "stations": {
+                    "S": {
+                        "pos": [
+                            -3.060781928999992,
+                            -1.4081069051637123
+                        ],
+                        "yaw_deg": 7.8693074725059695
+                    },
+                    "A": {
+                        "object": "table_A",
+                        "stand": [
+                            0.25,
+                            -1.6,
+                            0.0
+                        ],
+                        "zone": {
+                            "centre": [
+                                -0.1,
+                                -1.6
+                            ],
+                            "radius": 1.0
+                        }
+                    },
+                    "B": {
+                        "object": "table_B",
+                        "stand": [
+                            0.25,
+                            2.2,
+                            0.0
+                        ],
+                        "zone": {
+                            "centre": [
+                                -0.1,
+                                2.2
+                            ],
+                            "radius": 1.0
+                        }
+                    }
+                },
+                "fixtures": [
+                    {
+                        "name": "table_A",
+                        "shape": "box",
+                        "pos": [
+                            1.0,
+                            -1.6,
+                            0.18
+                        ],
+                        "size": [
+                            0.5,
+                            0.8,
+                            0.3
+                        ],
+                        "color": [
+                            0.78,
+                            0.72,
+                            0.62
+                        ]
+                    },
+                    {
+                        "name": "table_B",
+                        "shape": "box",
+                        "pos": [
+                            1.0,
+                            2.2,
+                            0.18
+                        ],
+                        "size": [
+                            0.5,
+                            1.0,
+                            0.3
+                        ],
+                        "color": [
+                            0.62,
+                            0.72,
+                            0.78
+                        ]
+                    }
+                ],
+                "dr": {
+                    "groups": [
+                        {
+                            "kind": "xy",
+                            "amp": 0.25,
+                            "keys": [
+                                "env.robot.Go2Plus.common.pos",
+                                "task.mmb.stations.S.pos"
+                            ]
+                        },
+                        {
+                            "kind": "yaw",
+                            "amp": 15.0,
+                            "keys": [
+                                "env.robot.Go2Plus.common.ori",
+                                "task.mmb.stations.S.yaw_deg"
+                            ]
+                        },
+                        {
+                            "kind": "xy",
+                            "amp": 0.01,
+                            "keys": [
+                                "task.mmb.holder.centre"
+                            ]
+                        },
+                        {
+                            "kind": "scale",
+                            "amp": 0.2,
+                            "keys": [
+                                "task.mmb.coin.friction",
+                                "task.mmb.coin.mass"
+                            ]
+                        },
+                        {
+                            "kind": "add",
+                            "amp": 20,
+                            "round": true,
+                            "keys": [
+                                "task.mmb.avatar.start_tick"
+                            ]
+                        }
+                    ]
+                },
+                "coin": {
+                    "obj_name": "coin",
+                    "radius": 0.0375,
+                    "thickness": 0.0092,
+                    "mass": 0.06661728424075006,
+                    "friction": 1.2490740795140636
+                },
+                "holder": {
+                    "centre": [
+                        0.8892889350867197,
+                        -1.5905877617527795
+                    ],
+                    "table_top": 0.33,
+                    "rail_h": 0.025,
+                    "gap": 0.002,
+                    "rail_len": 0.09,
+                    "rail_w": 0.02
+                },
+                "banks": {
+                    "names": [
+                        "bank_left",
+                        "bank_right"
+                    ],
+                    "x": 0.9,
+                    "y": [
+                        2.45,
+                        1.95
+                    ],
+                    "table_top": 0.33,
+                    "yaw_deg": 0.0,
+                    "slot_len": 0.09,
+                    "slot_w": 0.022,
+                    "depth": 0.16,
+                    "width": 0.12,
+                    "height": 0.11,
+                    "colors": [
+                        [
+                            0.8,
+                            0.25,
+                            0.25
+                        ],
+                        [
+                            0.25,
+                            0.35,
+                            0.8
+                        ]
+                    ]
+                },
+                "avatar": {
+                    "enabled": true,
+                    "pos": [
+                        2.2,
+                        2.2
+                    ],
+                    "yaw_deg": 180.0,
+                    "start_tick": 15,
+                    "raise_ticks": 150,
+                    "reach": 0.95,
+                    "match_deg": 20.0,
+                    "fov_deg": 120.0,
+                    "view_range": 6.0
+                },
+                "success": {
+                    "hand_away": 0.12,
+                    "rest_ticks": 30,
+                    "rest_speed": 0.0005,
+                    "max_tilt_deg": 25.0,
+                    "drop_margin": 0.04
+                },
+                "levels": {
+                    "easy": {},
+                    "medium": {
+                        "holder": {
+                            "centre": [
+                                0.86,
+                                -1.52
+                            ]
+                        }
+                    },
+                    "hard": {
+                        "banks": {
+                            "yaw_deg": 90.0
+                        }
+                    }
+                },
+                "heading_link": "torso",
+                "planner_seeds": "lean",
+                "dr_applied": [
+                    {
+                        "group": 0,
+                        "kind": "xy",
+                        "amp": 0.25,
+                        "draw": [
+                            0.13922,
+                            0.19189
+                        ],
+                        "key": "env.robot.RidgebackSawyerUmi.common.pos",
+                        "before": [
+                            [
+                                -3.2,
+                                -1.6,
+                                0.06
+                            ],
+                            [
+                                -3.2,
+                                -1.6,
+                                0.06
+                            ]
+                        ],
+                        "after": [
+                            [
+                                -3.060781928999992,
+                                -1.4081069051637123,
+                                0.06
+                            ],
+                            [
+                                -3.060781928999992,
+                                -1.4081069051637123,
+                                0.06
+                            ]
+                        ]
+                    },
+                    {
+                        "group": 0,
+                        "kind": "xy",
+                        "amp": 0.25,
+                        "draw": [
+                            0.13922,
+                            0.19189
+                        ],
+                        "key": "task.mmb.stations.S.pos",
+                        "before": [
+                            -3.2,
+                            -1.6
+                        ],
+                        "after": [
+                            -3.060781928999992,
+                            -1.4081069051637123
+                        ]
+                    },
+                    {
+                        "group": 1,
+                        "kind": "yaw",
+                        "amp": 15.0,
+                        "draw": [
+                            7.86931
+                        ],
+                        "key": "env.robot.RidgebackSawyerUmi.common.ori",
+                        "before": [
+                            [
+                                0,
+                                0,
+                                0
+                            ],
+                            [
+                                0,
+                                0,
+                                0
+                            ]
+                        ],
+                        "after": [
+                            [
+                                0.0,
+                                0.0,
+                                7.8693074725059695
+                            ],
+                            [
+                                0.0,
+                                0.0,
+                                7.8693074725059695
+                            ]
+                        ]
+                    },
+                    {
+                        "group": 1,
+                        "kind": "yaw",
+                        "amp": 15.0,
+                        "draw": [
+                            7.86931
+                        ],
+                        "key": "task.mmb.stations.S.yaw_deg",
+                        "before": 0.0,
+                        "after": 7.8693074725059695
+                    },
+                    {
+                        "group": 2,
+                        "kind": "xy",
+                        "amp": 0.01,
+                        "draw": [
+                            0.00929,
+                            0.00941
+                        ],
+                        "key": "task.mmb.holder.centre",
+                        "before": [
+                            0.88,
+                            -1.6
+                        ],
+                        "after": [
+                            0.8892889350867197,
+                            -1.5905877617527795
+                        ]
+                    },
+                    {
+                        "group": 3,
+                        "kind": "scale",
+                        "amp": 0.2,
+                        "draw": [
+                            0.83272
+                        ],
+                        "key": "task.mmb.coin.friction",
+                        "before": 1.5,
+                        "after": 1.2490740795140636
+                    },
+                    {
+                        "group": 3,
+                        "kind": "scale",
+                        "amp": 0.2,
+                        "draw": [
+                            0.83272
+                        ],
+                        "key": "task.mmb.coin.mass",
+                        "before": 0.08,
+                        "after": 0.06661728424075006
+                    },
+                    {
+                        "group": 4,
+                        "kind": "add",
+                        "amp": 20.0,
+                        "draw": [
+                            -15.1361
+                        ],
+                        "key": "task.mmb.avatar.start_tick",
+                        "before": 30,
+                        "after": 15
+                    }
+                ],
+                "dr_seed": 2048,
+                "_fixtures_added": true
+            },
+            "command": {
+                "MmbChain": null,
+                "CoinChain": {
+                    "robot_id": 0,
+                    "init_limit": 80,
+                    "settle_after_last": 400,
+                    "phases": [
+                        {
+                            "name": "nav_A",
+                            "skill": "NavToPose",
+                            "station": "A",
+                            "align": {
+                                "from": "holder.centre",
+                                "dy": 0.0
+                            },
+                            "retries": 1
+                        },
+                        {
+                            "name": "hold_A",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_hold"
+                            }
+                        },
+                        {
+                            "name": "open0",
+                            "skill": "Move",
+                            "hand": "open"
+                        },
+                        {
+                            "name": "pre_pinch",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_pinch",
+                                "tip_depth": 0.0343,
+                                "dz": 0.1
+                            },
+                            "station": "A",
+                            "retries": 2
+                        },
+                        {
+                            "name": "down",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_pinch",
+                                "tip_depth": 0.0343,
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "close",
+                            "skill": "Move",
+                            "hand": "close"
+                        },
+                        {
+                            "name": "lift",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_offset",
+                                "dz": 0.12
+                            },
+                            "station": "A",
+                            "event": "grasp"
+                        },
+                        {
+                            "name": "fold",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "base_point",
+                                "dx": 0.55,
+                                "dy": 0.0,
+                                "z": 0.68
+                            },
+                            "retries": 1
+                        },
+                        {
+                            "name": "nav_B",
+                            "skill": "NavToPose",
+                            "station": "B",
+                            "retries": 1
+                        },
+                        {
+                            "name": "hold_B",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_hold"
+                            }
+                        },
+                        {
+                            "name": "look",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_offset"
+                            },
+                            "observe": true,
+                            "max_tries": 30
+                        },
+                        {
+                            "name": "pre_slot",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.08
+                            },
+                            "station": "B",
+                            "retries": 2
+                        },
+                        {
+                            "name": "align_a",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.08
+                            }
+                        },
+                        {
+                            "name": "align_b",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.08
+                            }
+                        },
+                        {
+                            "name": "down_slot",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "align_c",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "align_d",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "release",
+                            "skill": "Move",
+                            "hand": "open",
+                            "station": "B",
+                            "event": "release"
+                        },
+                        {
+                            "name": "retreat",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_offset",
+                                "dz": 0.1
+                            }
+                        },
+                        {
+                            "name": "settle",
+                            "skill": "Wait",
+                            "ticks": 120
+                        }
+                    ],
+                    "remap": {
+                        "MoveWhole:-1": [
+                            "Move",
+                            0
+                        ],
+                        "Move:4": [
+                            "Move",
+                            0
+                        ]
+                    }
+                }
+            }
+        },
+        "collect": {
+            "command": {
+                "MmbChain": null,
+                "CoinChain": {
+                    "robot_id": 0,
+                    "init_limit": 80,
+                    "settle_after_last": 400,
+                    "phases": [
+                        {
+                            "name": "nav_A",
+                            "skill": "NavToPose",
+                            "station": "A",
+                            "align": {
+                                "from": "holder.centre",
+                                "dy": 0.0
+                            },
+                            "retries": 1
+                        },
+                        {
+                            "name": "hold_A",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_hold"
+                            }
+                        },
+                        {
+                            "name": "open0",
+                            "skill": "Move",
+                            "hand": "open"
+                        },
+                        {
+                            "name": "pre_pinch",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_pinch",
+                                "tip_depth": 0.0343,
+                                "dz": 0.1
+                            },
+                            "station": "A",
+                            "retries": 2
+                        },
+                        {
+                            "name": "down",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_pinch",
+                                "tip_depth": 0.0343,
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "close",
+                            "skill": "Move",
+                            "hand": "close"
+                        },
+                        {
+                            "name": "lift",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_offset",
+                                "dz": 0.12
+                            },
+                            "station": "A",
+                            "event": "grasp"
+                        },
+                        {
+                            "name": "fold",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "base_point",
+                                "dx": 0.55,
+                                "dy": 0.0,
+                                "z": 0.68
+                            },
+                            "retries": 1
+                        },
+                        {
+                            "name": "nav_B",
+                            "skill": "NavToPose",
+                            "station": "B",
+                            "retries": 1
+                        },
+                        {
+                            "name": "hold_B",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_hold"
+                            }
+                        },
+                        {
+                            "name": "look",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_offset"
+                            },
+                            "observe": true,
+                            "max_tries": 30
+                        },
+                        {
+                            "name": "pre_slot",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.08
+                            },
+                            "station": "B",
+                            "retries": 2
+                        },
+                        {
+                            "name": "align_a",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.08
+                            }
+                        },
+                        {
+                            "name": "align_b",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.08
+                            }
+                        },
+                        {
+                            "name": "down_slot",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "align_c",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "align_d",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "release",
+                            "skill": "Move",
+                            "hand": "open",
+                            "station": "B",
+                            "event": "release"
+                        },
+                        {
+                            "name": "retreat",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_offset",
+                                "dz": 0.1
+                            }
+                        },
+                        {
+                            "name": "settle",
+                            "skill": "Wait",
+                            "ticks": 120
+                        }
+                    ],
+                    "remap": {
+                        "MoveWhole:-1": [
+                            "Move",
+                            0
+                        ],
+                        "Move:4": [
+                            "Move",
+                            0
+                        ]
+                    }
+                }
+            },
+            "auto_collect": {
+                "max_trajectories": 1
+            },
+            "record": {
+                "output_dir": "/mnt/scratch/xc536_atomic/n004_saw_on_2048/out",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            },
+            "global_planner": {
+                "NavTo": {
+                    "use_navmesh": true,
+                    "use_absolute": true,
+                    "translation_threshold": 0.06,
+                    "rotation_threshold": 0.1,
+                    "num_path_segments": 30,
+                    "start_forward_offset": 0.0,
+                    "visualize_path": false,
+                    "carry_arm": true
+                },
+                "MobileMoveL": {
+                    "translation_threshold": 0.006,
+                    "rotation_threshold": 0.2,
+                    "motiongen_distance_threshold": 0.05,
+                    "timeout_steps": 1800,
+                    "stall_release_ticks": 100,
+                    "stall_release_factor": 5.0,
+                    "debug": false,
+                    "debug_viz": false,
+                    "debug_sphere": false,
+                    "reactive": false,
+                    "base_pos_threshold": 0.12,
+                    "base_rot_threshold": 0.5,
+                    "eef_pos_threshold": 0.01,
+                    "eef_rot_threshold": 0.1,
+                    "waypoint_max_steps": 20,
+                    "interp_steps": 60,
+                    "retry_mobile_on_locked_plan_failure": true
+                },
+                "ParallelGripper": {
+                    "gripper_threshold": 0.0005,
+                    "timeout_steps": 100
+                }
+            },
+            "atomic_skill": {
+                "NavToPose": {
+                    "robot_id": 0
+                },
+                "Move": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "arm_planner": "MobileMoveL",
+                    "hand_planner": "ParallelGripper",
+                    "open_value": 0.0,
+                    "close_value": 1.0,
+                    "hold_steps": 25,
+                    "ramp_steps": 0
+                },
+                "MoveWhole": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "arm_planner": "MobileMoveL",
+                    "hand_planner": "ParallelGripper",
+                    "open_value": 0.0,
+                    "close_value": 1.0,
+                    "hold_steps": 25,
+                    "ramp_steps": 0
+                }
+            }
+        },
+        "visual_dr": {
+            "keep": [
+                "bank_left_*",
+                "bank_right_*",
+                "Person"
+            ]
+        }
+    },
+    "git_sha": null,
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}
\ No newline at end of file
diff --git a/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/sim_info/0/actions.npz b/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/sim_info/0/actions.npz
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+oid sha256:5941ae4d020fbdd6af554eb259130cbeebd9b7193faac441cd6e15bf43ff2fd2
+size 372656
diff --git a/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/sim_info/0/device_commands.jsonl b/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/sim_info/0/device_commands.jsonl
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diff --git a/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/sim_info/0/device_events.jsonl b/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/sim_info/0/device_events.jsonl
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diff --git a/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/sim_info/0/scene_snapshot.json b/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/sim_info/0/scene_snapshot.json
new file mode 100644
index 0000000000000000000000000000000000000000..66641034c3efa62ce516eb326d9261eff4191f46
--- /dev/null
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+{
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+    "env_id": 0,
+    "run_id": "coinchain/000",
+    "task_type": "MmbChain",
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+    "timing": {
+        "fps": 50.0,
+        "sim_dt": 0.005,
+        "decimation": 4
+    },
+    "restore_interface": {
+        "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
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+                                "RL_BoneRoot/Hip",
+                                "RL_BoneRoot/Hip/Pelvis",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBaseShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_PinkyToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_RingToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_MidToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_IndexToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_BigToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_CalfTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_CalfTwist01/L_CalfTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_KneeShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_ThighTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_ThighTwist01/L_ThighTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_KneeShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_BigToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_PinkyToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_RingToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_IndexToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_MidToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBaseShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_CalfTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_CalfTwist01/R_CalfTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_ThighTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_ThighTwist01/R_ThighTwist02",
+                                "RL_BoneRoot/Hip/Waist",
+                                "RL_BoneRoot/Hip/Waist/Spine01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01/Tongue02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01/Tongue02/Tongue03",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Teeth02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/R_Eye",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/L_Eye",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/UpperJaw",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/UpperJaw/Teeth01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ForearmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ForearmTwist01/L_ForearmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ElbowShareBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1/L_Pinky2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1/L_Pinky2/L_Pinky3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1/L_Ring2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1/L_Ring2/L_Ring3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1/L_Mid2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1/L_Mid2/L_Mid3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1/L_Index2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1/L_Index2/L_Index3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1/L_Thumb2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1/L_Thumb2/L_Thumb3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_UpperarmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_UpperarmTwist01/L_UpperarmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_RibsTwist",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_RibsTwist/L_Breast",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_RibsTwist",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_RibsTwist/R_Breast",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ElbowShareBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ForearmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ForearmTwist01/R_ForearmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand",
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+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Ring1/R_Ring2/R_Ring3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1/R_Mid2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1/R_Mid2/R_Mid3",
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+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Thumb1/R_Thumb2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Thumb1/R_Thumb2/R_Thumb3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Index1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Index1/R_Index2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Index1/R_Index2/R_Index3",
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+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Pinky1/R_Pinky2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Pinky1/R_Pinky2/R_Pinky3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_UpperarmTwist01",
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+    }
+}
\ No newline at end of file
diff --git a/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/sim_info/0/sim_states.npz b/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/sim_info/0/sim_states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7cbc4eeead02843c143f65cf1a420919724e8e05
--- /dev/null
+++ b/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/sim_info/0/sim_states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d89a2abc194bc3e027946d27d339259d7164eba1a37f8de0a5ed1a81025af089
+size 578732
diff --git a/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/sim_info/magicsim_manifest.json b/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/sim_info/magicsim_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed8ad6e93d6364cd80722b43fb0d06607622ada1
--- /dev/null
+++ b/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/sim_info/magicsim_manifest.json
@@ -0,0 +1,233 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 00:19:07"
+    },
+    "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
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "coinchain/000",
+        "task_type": "MmbChain"
+    }
+}
\ No newline at end of file
diff --git a/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/visual_dr.json b/N004/sawyer_umi/dr_on/seed_2048/coinchain/000/visual_dr.json
new file mode 100644
index 0000000000000000000000000000000000000000..1628497af187a1847a44dd4bf3e642fea1eaada6
--- /dev/null
+++ b/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": [
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+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
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+     "intensity": 20465.825109,
+     "intensity_base": 15000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 3946.963269,
+     "rotate_deg": [
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+      0.553,
+      2.077
+     ]
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+   ],
+   "domes": [
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+     "rotate_deg": [
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+      86.437
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+      "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"
+     ],
+     [
+      "/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
+    }
+   ]
+  }
+ ]
+}
\ No newline at end of file
diff --git a/N004/sawyer_umi/dr_on/seed_2048/report.json b/N004/sawyer_umi/dr_on/seed_2048/report.json
new file mode 100644
index 0000000000000000000000000000000000000000..1088feba89f8492dcf620bee3ea46b356b04bccf
--- /dev/null
+++ b/N004/sawyer_umi/dr_on/seed_2048/report.json
@@ -0,0 +1,92 @@
+{
+ "live_episode": null,
+ "run": "n004_coin_bank-1110-000559",
+ "task": "N004",
+ "level": "easy",
+ "episodes_finished": 1,
+ "episodes_success": 1,
+ "stop_reason": "episodes_done",
+ "driver_steps": 3023,
+ "wall_s": 787.1,
+ "reports": [
+  "/mnt/scratch/xc536_atomic/n004_saw_on_2048/out/reports/N004_easy_s2048_e1_1110-001844.json"
+ ],
+ "failure_reasons": [
+  null
+ ],
+ "record": {
+  "run_dir": "/mnt/scratch/xc536_atomic/n004_saw_on_2048/out/coinchain/000",
+  "formats": [
+   "lerobot_v21",
+   "sim_info"
+  ],
+  "accepted": 1,
+  "committed": 1,
+  "save_errors": {},
+  "trajectories": {
+   "0": true
+  },
+  "files_ok": true
+ },
+ "collect": {
+  "task": "N004",
+  "robot": "sawyer_umi",
+  "visual_dr": true,
+  "env": {
+   "MMB_COLLECT": "1",
+   "MMB_TASK_ID": "N004",
+   "MMB_CLEAN_VIEW": "1",
+   "MMB_REAL_ROBOT_LOOK": "1",
+   "MMB_VISUAL_DR": "1"
+  },
+  "cameras": {
+   "head": {
+    "link": "Robot_0/head",
+    "pos": [
+     0.2166,
+     0.0,
+     -0.045
+    ],
+    "ori": [
+     -0.0,
+     35.0,
+     -90.0
+    ],
+    "focal_length": 2.0,
+    "horizontal_aperture": 3.6,
+    "vertical_aperture": 2.7
+   },
+   "wrist": {
+    "link": "Robot_0/right_electric_gripper_base",
+    "pos": [
+     0.0598,
+     0.0,
+     0.03
+    ],
+    "ori": [
+     180.0,
+     0.0,
+     -90.0
+    ],
+    "focal_length": 1.8,
+    "horizontal_aperture": 3.6,
+    "vertical_aperture": 2.7
+   }
+  },
+  "resolution": [
+   640,
+   480
+  ],
+  "camera_hz": 25,
+  "record": {
+   "formats": [
+    "lerobot_v21",
+    "sim_info"
+   ],
+   "clear_buffer_on_failure": true,
+   "lerobot": {
+    "subsample_every": 2
+   }
+  }
+ }
+}
\ No newline at end of file
diff --git a/N004/sawyer_umi/dr_on/seed_2048/reports/N004_easy_s2048_e1_1110-001844.json b/N004/sawyer_umi/dr_on/seed_2048/reports/N004_easy_s2048_e1_1110-001844.json
new file mode 100644
index 0000000000000000000000000000000000000000..68019aae6b1af7041a1548bbf27b786ef1ee857a
--- /dev/null
+++ b/N004/sawyer_umi/dr_on/seed_2048/reports/N004_easy_s2048_e1_1110-001844.json
@@ -0,0 +1,1900 @@
+{
+ "task_id": "N004",
+ "task_version": "EXT60-MobileAvatar-v3",
+ "agent_id": "a00",
+ "family_id": "coin_slot_insertion",
+ "primary_category": "C4",
+ "level": "easy",
+ "embodiment": "sawyer_umi",
+ "scene_seed": 2048,
+ "domain_randomization": {
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+  "seed": 2048,
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+     ],
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+   {
+    "group": 2,
+    "kind": "xy",
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+    "draw": [
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+   {
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+    "kind": "scale",
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+    "key": "task.mmb.coin.friction",
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+   {
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+    "kind": "scale",
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+    "draw": [
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+    "key": "task.mmb.coin.mass",
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+   {
+    "group": 4,
+    "kind": "add",
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+    "draw": [
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+    "key": "task.mmb.avatar.start_tick",
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+    "after": 15
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+  ]
+ },
+ "episode_no": 1,
+ "execution_mode": "full_chain",
+ "planner_seeds": "lean",
+ "station_layout": {
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+    -1.6,
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+     -0.1,
+     -1.6
+    ],
+    "radius": 1.0
+   }
+  },
+  "B": {
+   "object": "table_B",
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+    2.2,
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+   "zone": {
+    "centre": [
+     -0.1,
+     2.2
+    ],
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+  }
+ },
+ "spawn_pose": {
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+   -1.408
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+  "z": 0.06,
+  "yaw_rad": 0.137
+ },
+ "base_path": [
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+   0.099
+  ],
+  [
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+   2.169,
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+ ],
+ "stage_events": [
+  {
+   "event": "arrived_A",
+   "tick": 415,
+   "base": [
+    -1.094,
+    -1.502,
+    -0.049
+   ],
+   "zone": null,
+   "path_length": 1.97
+  },
+  {
+   "event": "grasp",
+   "tick": 1311,
+   "base": [
+    0.192,
+    -1.581,
+    -0.049
+   ],
+   "zone": "A",
+   "path_length": 3.259,
+   "station": "A",
+   "phase": "lift"
+  },
+  {
+   "event": "left_A",
+   "tick": 1742,
+   "base": [
+    0.206,
+    -0.647,
+    1.561
+   ],
+   "zone": "A",
+   "path_length": 4.197
+  },
+  {
+   "event": "arrived_B",
+   "tick": 2059,
+   "base": [
+    0.217,
+    1.255,
+    1.562
+   ],
+   "zone": null,
+   "path_length": 6.099
+  },
+  {
+   "event": "release",
+   "tick": 2993,
+   "base": [
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+    2.169,
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+   ],
+   "zone": "B",
+   "path_length": 7.018,
+   "station": "B",
+   "phase": "release"
+  }
+ ],
+ "transport_state": {
+  "coin_ever_lifted_and_held": true,
+  "coin_max_lift_m": 0.253,
+  "coin_dropped_outside_cavity": false,
+  "coin_pos": [
+   0.9,
+   1.92,
+   0.375
+  ],
+  "material_loss": 0.0
+ },
+ "manipulation_success": true,
+ "mobile_success": true,
+ "full_success": true,
+ "failure_reason": null,
+ "fail_class": null,
+ "distance_to_first_interaction": 3.259,
+ "interstation_path_lengths": {
+  "A->B": 3.759
+ },
+ "station_transition_order": [
+  "A",
+  "B"
+ ],
+ "final_approach_pose": [
+  0.237,
+  2.169,
+  0.099
+ ],
+ "regrasp_events": [],
+ "material_loss_during_transport": 0.0,
+ "path_length": 7.018,
+ "max_step_per_tick": 0.006,
+ "base_jumps": 0,
+ "status": {
+  "mobile_success": true,
+  "mobile_reason": "ok",
+  "manipulation_success": true,
+  "manipulation_reason": "coin dropped through the slot, resting in the cavity",
+  "manipulation_details": {
+   "coin_pos": [
+    0.8998,
+    1.9203,
+    0.3755
+   ],
+   "coin_in_cavity_of": "bank_right",
+   "slot_crossings": {
+    "bank_right": {
+     "tick": 2969,
+     "tilt_deg": 0.5
+    }
+   },
+   "hand_to_coin_m": 0.221,
+   "coin_at_rest": true,
+   "coin_carried": true,
+   "coin_max_lift_m": 0.253
+  },
+  "avatar_ok": true,
+  "avatar_details": {
+   "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"
+}
\ No newline at end of file
diff --git a/N004/stretch3/dr_off/seed_1029/check.json b/N004/stretch3/dr_off/seed_1029/check.json
new file mode 100644
index 0000000000000000000000000000000000000000..3a2e50fbe01a6f0d3c7d59db05f1e95baa1d5eda
--- /dev/null
+++ b/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"
+  }
+ }
+}
\ No newline at end of file
diff --git a/N004/stretch3/dr_off/seed_1029/check.txt b/N004/stretch3/dr_off/seed_1029/check.txt
new file mode 100644
index 0000000000000000000000000000000000000000..df097b837f0f67b38ccb9516902d5850374f44f8
--- /dev/null
+++ b/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
diff --git a/N004/stretch3/dr_off/seed_1029/coinchain/000/completed/0.json b/N004/stretch3/dr_off/seed_1029/coinchain/000/completed/0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed71c2c4b0b02bf0aff42e87e036a384f61c3116
--- /dev/null
+++ b/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}
\ No newline at end of file
diff --git a/N004/stretch3/dr_off/seed_1029/coinchain/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N004/stretch3/dr_off/seed_1029/coinchain/000/lerobot_v21/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4b389a84f2cccfd4a01e27063b08790df4e19692
--- /dev/null
+++ b/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
diff --git a/N004/stretch3/dr_off/seed_1029/coinchain/000/lerobot_v21/meta/episodes.jsonl b/N004/stretch3/dr_off/seed_1029/coinchain/000/lerobot_v21/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0355250ff150a26e672ea88efebc407371b44e61
--- /dev/null
+++ b/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."}
diff --git a/N004/stretch3/dr_off/seed_1029/coinchain/000/lerobot_v21/meta/episodes_stats.jsonl b/N004/stretch3/dr_off/seed_1029/coinchain/000/lerobot_v21/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..24dcfebd0106eec37bfb1a5c18462c2107b727f1
--- /dev/null
+++ b/N004/stretch3/dr_off/seed_1029/coinchain/000/lerobot_v21/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"action": {"mean": [0.12626205145297223, 0.0, 0.03314298706116876, 0.2794907114179059, -0.400800508843197, 0.6486597820777038, -0.6802827913388008, 0.002811173642466282, -0.2890802039584553, -0.07250318849479136, 0.47832476120499634], "std": [0.14111039177495177, 0.0, 0.1097120167433139, 0.8623879915108108, 1.5731518242961395, 0.0994787078008177, 0.444791080755999, 0.008212021985763353, 0.45452637808247565, 0.209481347153724, 0.499529963088481], "min": [0.0, 0.0, -0.15562105178833008, -2.8472883701324463, -1.8632099628448486, 0.36767908930778503, -1.0, -0.0002595672267489135, -0.7068254351615906, -0.703608512878418, 0.0], "max": [0.30000001192092896, 0.0, 0.4000000059604645, 0.9002054333686829, 1.9630001783370972, 0.7197511792182922, 0.7071067690849304, 0.039993733167648315, 0.7071067690849304, 0.11774106323719025, 1.0], "count": [1361]}, "action_is_hold": {"mean": [0.0, 0.0, 0.0, 0.027920646583394562, 0.027920646583394562, 0.027920646583394562, 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diff --git a/N004/stretch3/dr_off/seed_1029/coinchain/000/lerobot_v21/meta/extra/episode_000000.json b/N004/stretch3/dr_off/seed_1029/coinchain/000/lerobot_v21/meta/extra/episode_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..69e8a759ca5b2c503be172c2aad055436aa69c0f
--- /dev/null
+++ b/N004/stretch3/dr_off/seed_1029/coinchain/000/lerobot_v21/meta/extra/episode_000000.json
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+     "category": "geometry",
+     "pos": [
+      3.040379869375092,
+      4.177663056256169,
+      0.3859997058352822
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0,
+       1.0
+      ],
+      "center": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "bank_right_plate_e_1",
+     "cat_name": "bank_right_plate_e",
+     "inst_id": 1,
+     "noun": "bank right plate e",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      3.092874390124732,
+      4.226763211971459,
+      0.38599970108251347
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0,
+       1.0
+      ],
+      "center": [
+       -3.552713678800501e-15,
+       -1.4210854715202004e-14,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "bank_right_plate_w_1",
+     "cat_name": "bank_right_plate_w",
+     "inst_id": 1,
+     "noun": "bank right plate w",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      2.9713229753675163,
+      4.19760410412298,
+      0.38599971151348705
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0,
+       1.0
+      ],
+      "center": [
+       0.0,
+       -1.4210854715202004e-14,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "coin_1",
+     "cat_name": "coin",
+     "inst_id": 1,
+     "noun": "coin",
+     "color": "orange",
+     "size": "small",
+     "material": null,
+     "category": "rigid",
+     "pos": [
+      3.8304683637949033,
+      0.7502887009418497,
+      0.30717872854020306
+     ],
+     "bbox": {
+      "extent": [
+       0.09442621432620991,
+       0.09441506695112845,
+       0.009345676316017515
+      ],
+      "center": [
+       1.0408340855860843e-16,
+       0.0,
+       -1.3834419720915037e-16
+      ]
+     }
+    }
+   ],
+   "relations": [
+    {
+     "subject": "table_A_1",
+     "relation": "in_front_of",
+     "object": "holder_rail_l_1"
+    },
+    {
+     "subject": "table_B_1",
+     "relation": "right_of",
+     "object": "bank_left_wall_s_1"
+    },
+    {
+     "subject": "bank_left_floor_1",
+     "relation": "right_of",
+     "object": "bank_left_wall_n_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": {
+      "K": [
+       [
+        811.3606627541883,
+        0.0,
+        320.0
+       ],
+       [
+        0.0,
+        811.3606388722814,
+        240.0
+       ],
+       [
+        0.0,
+        0.0,
+        1.0
+       ]
+      ],
+      "fov_h_deg": 43.048473468183616,
+      "resolution": [
+       640,
+       480
+      ]
+     },
+     "pos_robot": [
+      2.6608948226585007,
+      2.1147854065337524,
+      1.2357227132182549
+     ],
+     "viewpoint": "front-left, slightly above table height",
+     "extrinsics": {
+      "R": [
+       [
+        -5.56468016110756e-08,
+        -0.9999999999938459,
+        -3.5078881838734866e-06
+       ],
+       [
+        0.5646357088821415,
+        -2.9266214562895243e-06,
+        0.825340242716055
+       ],
+       [
+        -0.825340242721242,
+        -1.9347513867118415e-06,
+        0.5646357088788294
+       ]
+      ],
+      "t": [
+       -0.0029374520292166934,
+       -1.0975147957833271,
+       -0.6905334495545234
+      ]
+     }
+    },
+    {
+     "name": "wrist",
+     "intrinsics": {
+      "K": [
+       [
+        426.91786449658065,
+        0.0,
+        320.0
+       ],
+       [
+        0.0,
+        426.9178503597538,
+        240.0
+       ],
+       [
+        0.0,
+        0.0,
+        1.0
+       ]
+      ],
+      "fov_h_deg": 73.70742419505024,
+      "resolution": [
+       640,
+       480
+      ]
+     },
+     "pos_robot": [
+      2.6058802861806747,
+      2.169338063325741,
+      -0.0036022433784070516
+     ],
+     "viewpoint": "front-left, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        -0.9999999999940066,
+        3.409534356899787e-06,
+        6.01063709654693e-07
+       ],
+       [
+        3.46210948901734e-06,
+        0.9848141327789798,
+        0.1736119922897026
+       ],
+       [
+        1.651305908443882e-14,
+        0.1736119922907431,
+        -0.9848141327848816
+       ]
+      ],
+      "t": [
+       0.008999751121030937,
+       -0.07177462016445776,
+       0.044614582297616646
+      ]
+     }
+    }
+   ],
+   "robots": [
+    {
+     "name": "HelloRobot",
+     "model": "hellorobot",
+     "type": "mobilemanip",
+     "noun": "Hello Robot Stretch 3 mobile manipulator",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
+       -3.0316113318367583,
+       -1.4385319388329103,
+       0.06
+      ],
+      "ori": [
+       0.9930437207221985,
+       0.0,
+       0.0,
+       -0.11774628609418869
+      ]
+     },
+     "facing_yaw_deg": -13.52410437883894,
+     "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 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.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                [holder r[coin]\n\n[ba[bank right plate w]]\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": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Coinchain the 1.5707963267948966.",
+   "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
+}
\ No newline at end of file
diff --git a/N004/stretch3/dr_off/seed_1029/coinchain/000/lerobot_v21/meta/info.json b/N004/stretch3/dr_off/seed_1029/coinchain/000/lerobot_v21/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..acb13baee65b5374dfb5323eb59761e04d199779
--- /dev/null
+++ b/N004/stretch3/dr_off/seed_1029/coinchain/000/lerobot_v21/meta/info.json
@@ -0,0 +1,1131 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "HelloRobotCfg",
+    "total_episodes": 1,
+    "total_frames": 1361,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                11
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "arm_action_0",
+                "arm_action_1",
+                "arm_action_2",
+                "arm_action_3",
+                "arm_action_4",
+                "arm_action_5",
+                "arm_action_6",
+                "gripper"
+            ]
+        },
+        "action_is_hold": {
+            "dtype": "bool",
+            "shape": [
+                11
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "joint_lift",
+                "joint_head_pan",
+                "joint_head_tilt",
+                "joint_arm_l3",
+                "joint_arm_l2",
+                "joint_arm_l1",
+                "joint_arm_l0",
+                "joint_wrist_yaw",
+                "joint_wrist_pitch",
+                "joint_wrist_roll",
+                "joint_gripper_finger_left",
+                "joint_gripper_finger_right"
+            ]
+        },
+        "observation.joint_vel": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "joint_lift",
+                "joint_head_pan",
+                "joint_head_tilt",
+                "joint_arm_l3",
+                "joint_arm_l2",
+                "joint_arm_l1",
+                "joint_arm_l0",
+                "joint_wrist_yaw",
+                "joint_wrist_pitch",
+                "joint_wrist_roll",
+                "joint_gripper_finger_left",
+                "joint_gripper_finger_right"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                882
+            ],
+            "names": [
+                "avatar_motion.Person.joint_pos.0",
+                "avatar_motion.Person.joint_pos.1",
+                "avatar_motion.Person.joint_pos.2",
+                "avatar_motion.Person.joint_pos.3",
+                "avatar_motion.Person.joint_pos.4",
+                "avatar_motion.Person.joint_pos.5",
+                "avatar_motion.Person.joint_pos.6",
+                "avatar_motion.Person.joint_pos.7",
+                "avatar_motion.Person.joint_pos.8",
+                "avatar_motion.Person.joint_pos.9",
+                "avatar_motion.Person.joint_pos.10",
+                "avatar_motion.Person.joint_pos.11",
+                "avatar_motion.Person.joint_pos.12",
+                "avatar_motion.Person.joint_pos.13",
+                "avatar_motion.Person.joint_pos.14",
+                "avatar_motion.Person.joint_pos.15",
+                "avatar_motion.Person.joint_pos.16",
+                "avatar_motion.Person.joint_pos.17",
+                "avatar_motion.Person.joint_pos.18",
+                "avatar_motion.Person.joint_pos.19",
+                "avatar_motion.Person.joint_pos.20",
+                "avatar_motion.Person.joint_pos.21",
+                "avatar_motion.Person.joint_pos.22",
+                "avatar_motion.Person.joint_pos.23",
+                "avatar_motion.Person.joint_pos.24",
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+                "avatar_motion.Person.joint_rot.316",
+                "avatar_motion.Person.joint_rot.317",
+                "avatar_motion.Person.joint_rot.318",
+                "avatar_motion.Person.joint_rot.319",
+                "avatar_motion.Person.joint_rot.320",
+                "avatar_motion.Person.joint_rot.321",
+                "avatar_motion.Person.joint_rot.322",
+                "avatar_motion.Person.joint_rot.323",
+                "avatar_motion.Person.joint_rot.324",
+                "avatar_motion.Person.joint_rot.325",
+                "avatar_motion.Person.joint_rot.326",
+                "avatar_motion.Person.joint_rot.327",
+                "avatar_motion.Person.joint_rot.328",
+                "avatar_motion.Person.joint_rot.329",
+                "avatar_motion.Person.joint_rot.330",
+                "avatar_motion.Person.joint_rot.331",
+                "avatar_motion.Person.joint_rot.332",
+                "avatar_motion.Person.joint_rot.333",
+                "avatar_motion.Person.joint_rot.334",
+                "avatar_motion.Person.joint_rot.335",
+                "avatar_motion.Person.joint_rot.336",
+                "avatar_motion.Person.joint_rot.337",
+                "avatar_motion.Person.joint_rot.338",
+                "avatar_motion.Person.joint_rot.339",
+                "avatar_motion.Person.joint_rot.340",
+                "avatar_motion.Person.joint_rot.341",
+                "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": [
+                976
+            ],
+            "names": null
+        },
+        "action.applied": {
+            "dtype": "float32",
+            "shape": [
+                13
+            ],
+            "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
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/N004/stretch3/dr_off/seed_1029/coinchain/000/lerobot_v21/meta/magicsim_manifest.json b/N004/stretch3/dr_off/seed_1029/coinchain/000/lerobot_v21/meta/magicsim_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..f54a0d2381c88a3be29809fcaac054cab63c0b6b
--- /dev/null
+++ b/N004/stretch3/dr_off/seed_1029/coinchain/000/lerobot_v21/meta/magicsim_manifest.json
@@ -0,0 +1,259 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 00:19:00"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "HelloRobot",
+                "cfg": "HelloRobotCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "HelloRobot.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HelloRobotBaseAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "HelloRobot.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "arm_action_0",
+                    "arm_action_1",
+                    "arm_action_2",
+                    "arm_action_3",
+                    "arm_action_4",
+                    "arm_action_5",
+                    "arm_action_6"
+                ],
+                "source": "HelloRobotIKAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "HelloRobot.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_pos",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_vel",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "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": [
+                    [
+                        811.3606627541883,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        811.3606388722814,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 43.048473468183616,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.04977099969983101,
+                -0.002942000050097704,
+                1.2957229614257812
+            ],
+            "quat": [
+                -0.6254264116287231,
+                -0.3299117982387543,
+                0.32990962266921997,
+                0.6254276037216187
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        426.91786449658065,
+                        0.0,
+                        320.0
+                    ],
+                    [
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+            "extra.action_info",
+            "extra.reward",
+            "frame_index",
+            "index",
+            "narration",
+            "next.done",
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+            "observation.eef_pose",
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+        ]
+    },
+    "generated_run": {
+        "run_id": "coinchain/000",
+        "task_type": "MmbChain"
+    }
+}
\ No newline at end of file
diff --git a/N004/stretch3/dr_off/seed_1029/coinchain/000/lerobot_v21/meta/stats.json b/N004/stretch3/dr_off/seed_1029/coinchain/000/lerobot_v21/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a0c6f759e2965d4c8e23dd653f61d5dd8e2724c
--- /dev/null
+++ b/N004/stretch3/dr_off/seed_1029/coinchain/000/lerobot_v21/meta/stats.json
@@ -0,0 +1,8125 @@
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diff --git a/N004/stretch3/dr_off/seed_1029/coinchain/000/lerobot_v21/meta/tasks.jsonl b/N004/stretch3/dr_off/seed_1029/coinchain/000/lerobot_v21/meta/tasks.jsonl
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--- /dev/null
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diff --git a/N004/stretch3/dr_off/seed_1029/coinchain/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N004/stretch3/dr_off/seed_1029/coinchain/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4
new file mode 100644
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--- /dev/null
+++ b/N004/stretch3/dr_off/seed_1029/coinchain/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4
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+size 12517356
diff --git a/N004/stretch3/dr_off/seed_1029/coinchain/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N004/stretch3/dr_off/seed_1029/coinchain/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4
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diff --git a/N004/stretch3/dr_off/seed_1029/coinchain/000/run_meta.json b/N004/stretch3/dr_off/seed_1029/coinchain/000/run_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1881e60482616847c47dec803b08261737f9c1fa
--- /dev/null
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+                        "yaw_deg": -13.524103915006435
+                    },
+                    "A": {
+                        "object": "table_A",
+                        "stand": [
+                            0.31,
+                            -1.579,
+                            90.0
+                        ],
+                        "zone": {
+                            "centre": [
+                                -0.1,
+                                -1.6
+                            ],
+                            "radius": 1.0
+                        }
+                    },
+                    "B": {
+                        "object": "table_B",
+                        "stand": [
+                            0.31,
+                            2.221,
+                            90.0
+                        ],
+                        "zone": {
+                            "centre": [
+                                -0.1,
+                                2.2
+                            ],
+                            "radius": 1.0
+                        }
+                    }
+                },
+                "fixtures": [
+                    {
+                        "name": "table_A",
+                        "shape": "box",
+                        "pos": [
+                            1.0,
+                            -1.6,
+                            0.18
+                        ],
+                        "size": [
+                            0.5,
+                            0.8,
+                            0.3
+                        ],
+                        "color": [
+                            0.78,
+                            0.72,
+                            0.62
+                        ]
+                    },
+                    {
+                        "name": "table_B",
+                        "shape": "box",
+                        "pos": [
+                            1.0,
+                            2.2,
+                            0.18
+                        ],
+                        "size": [
+                            0.5,
+                            1.0,
+                            0.3
+                        ],
+                        "color": [
+                            0.62,
+                            0.72,
+                            0.78
+                        ]
+                    }
+                ],
+                "dr": {
+                    "groups": [
+                        {
+                            "kind": "xy",
+                            "amp": 0.25,
+                            "keys": [
+                                "env.robot.Go2Plus.common.pos",
+                                "task.mmb.stations.S.pos"
+                            ]
+                        },
+                        {
+                            "kind": "yaw",
+                            "amp": 15.0,
+                            "keys": [
+                                "env.robot.Go2Plus.common.ori",
+                                "task.mmb.stations.S.yaw_deg"
+                            ]
+                        },
+                        {
+                            "kind": "xy",
+                            "amp": 0.01,
+                            "keys": [
+                                "task.mmb.holder.centre"
+                            ]
+                        },
+                        {
+                            "kind": "scale",
+                            "amp": 0.2,
+                            "keys": [
+                                "task.mmb.coin.friction",
+                                "task.mmb.coin.mass"
+                            ]
+                        },
+                        {
+                            "kind": "add",
+                            "amp": 20,
+                            "round": true,
+                            "keys": [
+                                "task.mmb.avatar.start_tick"
+                            ]
+                        }
+                    ]
+                },
+                "coin": {
+                    "obj_name": "coin",
+                    "radius": 0.0375,
+                    "thickness": 0.0092,
+                    "mass": 0.07969178581542638,
+                    "friction": 1.4942209840392446
+                },
+                "holder": {
+                    "centre": [
+                        0.8736803177970788,
+                        -1.6026293004872838
+                    ],
+                    "table_top": 0.33,
+                    "rail_h": 0.025,
+                    "gap": 0.002,
+                    "rail_len": 0.09,
+                    "rail_w": 0.02
+                },
+                "banks": {
+                    "names": [
+                        "bank_left",
+                        "bank_right"
+                    ],
+                    "x": 0.9,
+                    "y": [
+                        2.45,
+                        1.95
+                    ],
+                    "table_top": 0.33,
+                    "yaw_deg": 0.0,
+                    "slot_len": 0.09,
+                    "slot_w": 0.022,
+                    "depth": 0.16,
+                    "width": 0.12,
+                    "height": 0.11,
+                    "colors": [
+                        [
+                            0.8,
+                            0.25,
+                            0.25
+                        ],
+                        [
+                            0.25,
+                            0.35,
+                            0.8
+                        ]
+                    ]
+                },
+                "avatar": {
+                    "enabled": true,
+                    "pos": [
+                        2.2,
+                        2.2
+                    ],
+                    "yaw_deg": 180.0,
+                    "start_tick": 31,
+                    "raise_ticks": 150,
+                    "reach": 0.95,
+                    "match_deg": 20.0,
+                    "fov_deg": 120.0,
+                    "view_range": 6.0
+                },
+                "success": {
+                    "hand_away": 0.12,
+                    "rest_ticks": 30,
+                    "rest_speed": 0.0005,
+                    "max_tilt_deg": 25.0,
+                    "drop_margin": 0.04
+                },
+                "levels": {
+                    "easy": {},
+                    "medium": {
+                        "holder": {
+                            "centre": [
+                                0.86,
+                                -1.52
+                            ]
+                        }
+                    },
+                    "hard": {
+                        "banks": {
+                            "yaw_deg": 90.0
+                        }
+                    }
+                },
+                "planner_seeds": "lean",
+                "dr_applied": [
+                    {
+                        "group": 0,
+                        "kind": "xy",
+                        "amp": 0.25,
+                        "draw": [
+                            0.16839,
+                            0.16147
+                        ],
+                        "key": "env.robot.HelloRobot.common.pos",
+                        "before": [
+                            [
+                                -3.2,
+                                -1.6,
+                                0.06
+                            ],
+                            [
+                                -3.2,
+                                -1.6,
+                                0.06
+                            ]
+                        ],
+                        "after": [
+                            [
+                                -3.0316113318367583,
+                                -1.4385319388329103,
+                                0.06
+                            ],
+                            [
+                                -3.0316113318367583,
+                                -1.4385319388329103,
+                                0.06
+                            ]
+                        ]
+                    },
+                    {
+                        "group": 0,
+                        "kind": "xy",
+                        "amp": 0.25,
+                        "draw": [
+                            0.16839,
+                            0.16147
+                        ],
+                        "key": "task.mmb.stations.S.pos",
+                        "before": [
+                            -3.2,
+                            -1.6
+                        ],
+                        "after": [
+                            -3.0316113318367583,
+                            -1.4385319388329103
+                        ]
+                    },
+                    {
+                        "group": 1,
+                        "kind": "yaw",
+                        "amp": 15.0,
+                        "draw": [
+                            -13.5241
+                        ],
+                        "key": "env.robot.HelloRobot.common.ori",
+                        "before": [
+                            [
+                                0,
+                                0,
+                                0
+                            ],
+                            [
+                                0,
+                                0,
+                                0
+                            ]
+                        ],
+                        "after": [
+                            [
+                                0.0,
+                                0.0,
+                                -13.524103915006435
+                            ],
+                            [
+                                0.0,
+                                0.0,
+                                -13.524103915006435
+                            ]
+                        ]
+                    },
+                    {
+                        "group": 1,
+                        "kind": "yaw",
+                        "amp": 15.0,
+                        "draw": [
+                            -13.5241
+                        ],
+                        "key": "task.mmb.stations.S.yaw_deg",
+                        "before": 0.0,
+                        "after": -13.524103915006435
+                    },
+                    {
+                        "group": 2,
+                        "kind": "xy",
+                        "amp": 0.01,
+                        "draw": [
+                            -0.00632,
+                            -0.00263
+                        ],
+                        "key": "task.mmb.holder.centre",
+                        "before": [
+                            0.88,
+                            -1.6
+                        ],
+                        "after": [
+                            0.8736803177970788,
+                            -1.6026293004872838
+                        ]
+                    },
+                    {
+                        "group": 3,
+                        "kind": "scale",
+                        "amp": 0.2,
+                        "draw": [
+                            0.99615
+                        ],
+                        "key": "task.mmb.coin.friction",
+                        "before": 1.5,
+                        "after": 1.4942209840392446
+                    },
+                    {
+                        "group": 3,
+                        "kind": "scale",
+                        "amp": 0.2,
+                        "draw": [
+                            0.99615
+                        ],
+                        "key": "task.mmb.coin.mass",
+                        "before": 0.08,
+                        "after": 0.07969178581542638
+                    },
+                    {
+                        "group": 4,
+                        "kind": "add",
+                        "amp": 20.0,
+                        "draw": [
+                            1.48707
+                        ],
+                        "key": "task.mmb.avatar.start_tick",
+                        "before": 30,
+                        "after": 31
+                    }
+                ],
+                "dr_seed": 1029,
+                "_fixtures_added": true
+            },
+            "command": {
+                "MmbChain": null,
+                "CoinChain": {
+                    "robot_id": 0,
+                    "init_limit": 80,
+                    "settle_after_last": 400,
+                    "phases": [
+                        {
+                            "name": "nav_A",
+                            "skill": "NavToPose",
+                            "station": "A",
+                            "align": {
+                                "from": "holder.centre",
+                                "dy": 0.021
+                            },
+                            "retries": 1
+                        },
+                        {
+                            "name": "hold_A",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_hold"
+                            }
+                        },
+                        {
+                            "name": "look",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_offset"
+                            },
+                            "observe": true,
+                            "max_tries": 30
+                        },
+                        {
+                            "name": "open0",
+                            "skill": "Move",
+                            "hand": "open"
+                        },
+                        {
+                            "name": "pre_pinch",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_pinch",
+                                "tip_depth": 0.045,
+                                "dz": 0.1
+                            },
+                            "station": "A",
+                            "retries": 2
+                        },
+                        {
+                            "name": "down",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_pinch",
+                                "tip_depth": 0.045,
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "close",
+                            "skill": "Move",
+                            "hand": "close"
+                        },
+                        {
+                            "name": "lift",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_offset",
+                                "dz": 0.12
+                            },
+                            "station": "A",
+                            "event": "grasp"
+                        },
+                        {
+                            "name": "fold",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "base_point",
+                                "dx": -0.021,
+                                "dy": -0.23,
+                                "z": 0.68
+                            },
+                            "retries": 1
+                        },
+                        {
+                            "name": "nav_B",
+                            "skill": "NavToPose",
+                            "station": "B",
+                            "align": {
+                                "from": "bank",
+                                "which": "observed",
+                                "dy": 0.021
+                            },
+                            "retries": 1
+                        },
+                        {
+                            "name": "hold_B",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_hold"
+                            }
+                        },
+                        {
+                            "name": "pre_slot",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.08
+                            },
+                            "station": "B",
+                            "retries": 2
+                        },
+                        {
+                            "name": "align_a",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.08
+                            }
+                        },
+                        {
+                            "name": "align_b",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.08
+                            }
+                        },
+                        {
+                            "name": "down_slot",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "align_c",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "align_d",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "release",
+                            "skill": "Move",
+                            "hand": "open",
+                            "station": "B",
+                            "event": "release"
+                        },
+                        {
+                            "name": "retreat",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_offset",
+                                "dz": 0.1
+                            }
+                        },
+                        {
+                            "name": "settle",
+                            "skill": "Wait",
+                            "ticks": 120
+                        }
+                    ],
+                    "remap": {
+                        "MoveWhole:-1": [
+                            "Move",
+                            0
+                        ],
+                        "Move:4": [
+                            "Move",
+                            0
+                        ]
+                    }
+                }
+            }
+        },
+        "collect": {
+            "command": {
+                "MmbChain": null,
+                "CoinChain": {
+                    "robot_id": 0,
+                    "init_limit": 80,
+                    "settle_after_last": 400,
+                    "phases": [
+                        {
+                            "name": "nav_A",
+                            "skill": "NavToPose",
+                            "station": "A",
+                            "align": {
+                                "from": "holder.centre",
+                                "dy": 0.021
+                            },
+                            "retries": 1
+                        },
+                        {
+                            "name": "hold_A",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_hold"
+                            }
+                        },
+                        {
+                            "name": "look",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_offset"
+                            },
+                            "observe": true,
+                            "max_tries": 30
+                        },
+                        {
+                            "name": "open0",
+                            "skill": "Move",
+                            "hand": "open"
+                        },
+                        {
+                            "name": "pre_pinch",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_pinch",
+                                "tip_depth": 0.045,
+                                "dz": 0.1
+                            },
+                            "station": "A",
+                            "retries": 2
+                        },
+                        {
+                            "name": "down",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_pinch",
+                                "tip_depth": 0.045,
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "close",
+                            "skill": "Move",
+                            "hand": "close"
+                        },
+                        {
+                            "name": "lift",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_offset",
+                                "dz": 0.12
+                            },
+                            "station": "A",
+                            "event": "grasp"
+                        },
+                        {
+                            "name": "fold",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "base_point",
+                                "dx": -0.021,
+                                "dy": -0.23,
+                                "z": 0.68
+                            },
+                            "retries": 1
+                        },
+                        {
+                            "name": "nav_B",
+                            "skill": "NavToPose",
+                            "station": "B",
+                            "align": {
+                                "from": "bank",
+                                "which": "observed",
+                                "dy": 0.021
+                            },
+                            "retries": 1
+                        },
+                        {
+                            "name": "hold_B",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_hold"
+                            }
+                        },
+                        {
+                            "name": "pre_slot",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.08
+                            },
+                            "station": "B",
+                            "retries": 2
+                        },
+                        {
+                            "name": "align_a",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.08
+                            }
+                        },
+                        {
+                            "name": "align_b",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.08
+                            }
+                        },
+                        {
+                            "name": "down_slot",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "align_c",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "align_d",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "release",
+                            "skill": "Move",
+                            "hand": "open",
+                            "station": "B",
+                            "event": "release"
+                        },
+                        {
+                            "name": "retreat",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_offset",
+                                "dz": 0.1
+                            }
+                        },
+                        {
+                            "name": "settle",
+                            "skill": "Wait",
+                            "ticks": 120
+                        }
+                    ],
+                    "remap": {
+                        "MoveWhole:-1": [
+                            "Move",
+                            0
+                        ],
+                        "Move:4": [
+                            "Move",
+                            0
+                        ]
+                    }
+                }
+            },
+            "auto_collect": {
+                "max_trajectories": 1
+            },
+            "record": {
+                "output_dir": "/mnt/scratch/xc536_atomic/n004_str_off_1029/out",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            },
+            "global_planner": {
+                "NavTo": {
+                    "use_navmesh": true,
+                    "use_absolute": true,
+                    "translation_threshold": 0.02,
+                    "rotation_threshold": 0.01,
+                    "num_path_segments": 30,
+                    "start_forward_offset": 0.0,
+                    "visualize_path": false,
+                    "carry_arm": true
+                },
+                "MobileMoveL": {
+                    "translation_threshold": 0.006,
+                    "rotation_threshold": 0.05,
+                    "motiongen_distance_threshold": 0.0,
+                    "timeout_steps": 1500,
+                    "stall_release_ticks": 100,
+                    "stall_release_factor": 5.0,
+                    "debug": false,
+                    "debug_viz": false,
+                    "debug_sphere": false,
+                    "reactive": false,
+                    "base_pos_threshold": 0.025,
+                    "base_rot_threshold": 0.05,
+                    "eef_pos_threshold": 0.02,
+                    "eef_rot_threshold": 0.25,
+                    "waypoint_max_steps": 60
+                },
+                "ParallelGripper": {
+                    "gripper_threshold": 0.0005,
+                    "timeout_steps": 100
+                }
+            },
+            "atomic_skill": {
+                "NavToPose": {
+                    "robot_id": 0
+                },
+                "Move": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "arm_planner": "MobileMoveL",
+                    "hand_planner": "ParallelGripper",
+                    "open_value": 0.0,
+                    "close_value": 1.0,
+                    "hold_steps": 25,
+                    "ramp_steps": 0
+                },
+                "MoveWhole": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "arm_planner": "MobileMoveL",
+                    "hand_planner": "ParallelGripper",
+                    "open_value": 0.0,
+                    "close_value": 1.0,
+                    "hold_steps": 25,
+                    "ramp_steps": 0
+                }
+            }
+        },
+        "visual_dr": {
+            "keep": [
+                "bank_left_*",
+                "bank_right_*",
+                "Person"
+            ]
+        }
+    },
+    "git_sha": null,
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}
\ No newline at end of file
diff --git a/N004/stretch3/dr_off/seed_1029/coinchain/000/sim_info/0/actions.npz b/N004/stretch3/dr_off/seed_1029/coinchain/000/sim_info/0/actions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5790ca529406661b49a689a0d5e2cf0ec21b8a98
--- /dev/null
+++ b/N004/stretch3/dr_off/seed_1029/coinchain/000/sim_info/0/actions.npz
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diff --git a/N004/stretch3/dr_off/seed_1029/coinchain/000/sim_info/0/device_commands.jsonl b/N004/stretch3/dr_off/seed_1029/coinchain/000/sim_info/0/device_commands.jsonl
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diff --git a/N004/stretch3/dr_off/seed_1029/coinchain/000/sim_info/0/device_events.jsonl b/N004/stretch3/dr_off/seed_1029/coinchain/000/sim_info/0/device_events.jsonl
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diff --git a/N004/stretch3/dr_off/seed_1029/coinchain/000/sim_info/0/scene_snapshot.json b/N004/stretch3/dr_off/seed_1029/coinchain/000/sim_info/0/scene_snapshot.json
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--- /dev/null
+++ b/N004/stretch3/dr_off/seed_1029/coinchain/000/sim_info/0/scene_snapshot.json
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+{
+    "trajectory_id": 0,
+    "env_id": 0,
+    "run_id": "coinchain/000",
+    "task_type": "MmbChain",
+    "success": true,
+    "timing": {
+        "fps": 50.0,
+        "sim_dt": 0.005,
+        "decimation": 4
+    },
+    "restore_interface": {
+        "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
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+                                "RL_BoneRoot/Hip",
+                                "RL_BoneRoot/Hip/Pelvis",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBaseShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_PinkyToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_RingToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_MidToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_IndexToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_BigToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_CalfTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_CalfTwist01/L_CalfTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_KneeShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_ThighTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_ThighTwist01/L_ThighTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_KneeShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_BigToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_PinkyToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_RingToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_IndexToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_MidToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBaseShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_CalfTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_CalfTwist01/R_CalfTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_ThighTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_ThighTwist01/R_ThighTwist02",
+                                "RL_BoneRoot/Hip/Waist",
+                                "RL_BoneRoot/Hip/Waist/Spine01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01/Tongue02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01/Tongue02/Tongue03",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Teeth02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/R_Eye",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/L_Eye",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/UpperJaw",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/UpperJaw/Teeth01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ForearmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ForearmTwist01/L_ForearmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ElbowShareBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1/L_Pinky2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1/L_Pinky2/L_Pinky3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1/L_Ring2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1/L_Ring2/L_Ring3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1/L_Mid2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1/L_Mid2/L_Mid3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1/L_Index2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1/L_Index2/L_Index3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1/L_Thumb2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1/L_Thumb2/L_Thumb3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_UpperarmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_UpperarmTwist01/L_UpperarmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_RibsTwist",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_RibsTwist/L_Breast",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_RibsTwist",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_RibsTwist/R_Breast",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ElbowShareBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ForearmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ForearmTwist01/R_ForearmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Ring1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Ring1/R_Ring2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Ring1/R_Ring2/R_Ring3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1/R_Mid2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1/R_Mid2/R_Mid3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Thumb1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Thumb1/R_Thumb2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Thumb1/R_Thumb2/R_Thumb3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Index1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Index1/R_Index2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Index1/R_Index2/R_Index3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Pinky1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Pinky1/R_Pinky2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Pinky1/R_Pinky2/R_Pinky3",
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+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/N004/stretch3/dr_off/seed_1029/coinchain/000/sim_info/0/sim_states.npz b/N004/stretch3/dr_off/seed_1029/coinchain/000/sim_info/0/sim_states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..657578922024d3e31c23ee24cd75a3170336b2f0
--- /dev/null
+++ b/N004/stretch3/dr_off/seed_1029/coinchain/000/sim_info/0/sim_states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e899ed64c196c60d55cb4db34ccfe52ba545a7e88baaf11422fa04105015f1bc
+size 573641
diff --git a/N004/stretch3/dr_off/seed_1029/coinchain/000/sim_info/magicsim_manifest.json b/N004/stretch3/dr_off/seed_1029/coinchain/000/sim_info/magicsim_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..3e89e10b767018854b8f5b7074eb8a8ebd7e18a0
--- /dev/null
+++ b/N004/stretch3/dr_off/seed_1029/coinchain/000/sim_info/magicsim_manifest.json
@@ -0,0 +1,228 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 00:19:16"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "HelloRobot",
+                "cfg": "HelloRobotCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "HelloRobot.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HelloRobotBaseAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "HelloRobot.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "arm_action_0",
+                    "arm_action_1",
+                    "arm_action_2",
+                    "arm_action_3",
+                    "arm_action_4",
+                    "arm_action_5",
+                    "arm_action_6"
+                ],
+                "source": "HelloRobotIKAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "HelloRobot.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_pos",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_vel",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "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": [
+                    [
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+                    [
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+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 43.048473468183616,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
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+                -0.002942000050097704,
+                1.2957229614257812
+            ],
+            "quat": [
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+                0.32990962266921997,
+                0.6254276037216187
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
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+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
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+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 73.70742419505024,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
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+                0.06293900310993195,
+                0.056398000568151474
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+            "quat": [
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+                0.9961962699890137,
+                0.08713743835687637
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "coinchain/000",
+        "task_type": "MmbChain"
+    }
+}
\ No newline at end of file
diff --git a/N004/stretch3/dr_off/seed_1029/report.json b/N004/stretch3/dr_off/seed_1029/report.json
new file mode 100644
index 0000000000000000000000000000000000000000..c06c6da63c77b20f231e33553b647b45eb13b0c1
--- /dev/null
+++ b/N004/stretch3/dr_off/seed_1029/report.json
@@ -0,0 +1,92 @@
+{
+ "live_episode": null,
+ "run": "n004_coin_bank_td45-1110-000701",
+ "task": "N004",
+ "level": "easy",
+ "episodes_finished": 1,
+ "episodes_success": 1,
+ "stop_reason": "episodes_done",
+ "driver_steps": 2802,
+ "wall_s": 733.9,
+ "reports": [
+  "/mnt/scratch/xc536_atomic/n004_str_off_1029/out/reports/N004_easy_s1029_e1_1110-001856.json"
+ ],
+ "failure_reasons": [
+  null
+ ],
+ "record": {
+  "run_dir": "/mnt/scratch/xc536_atomic/n004_str_off_1029/out/coinchain/000",
+  "formats": [
+   "lerobot_v21",
+   "sim_info"
+  ],
+  "accepted": 1,
+  "committed": 1,
+  "save_errors": {},
+  "trajectories": {
+   "0": true
+  },
+  "files_ok": true
+ },
+ "collect": {
+  "task": "N004",
+  "robot": "stretch3",
+  "visual_dr": false,
+  "env": {
+   "MMB_COLLECT": "1",
+   "MMB_TASK_ID": "N004",
+   "MMB_CLEAN_VIEW": "1",
+   "MMB_REAL_ROBOT_LOOK": "1",
+   "MMB_VISUAL_DR": "0"
+  },
+  "cameras": {
+   "head": {
+    "link": "Robot_0/base_link",
+    "pos": [
+     0.049771,
+     -0.002942,
+     1.295723
+    ],
+    "ori": [
+     0.0002,
+     -55.623,
+     -90.0
+    ],
+    "focal_length": 2.73834228515625,
+    "horizontal_aperture": 2.1600000858306885,
+    "vertical_aperture": 1.62
+   },
+   "wrist": {
+    "link": "Robot_0/link_gripper_s3_body",
+    "pos": [
+     0.009,
+     0.062939,
+     0.056398
+    ],
+    "ori": [
+     -170.0021,
+     0.0,
+     -179.9998
+    ],
+    "focal_length": 1.280753493309021,
+    "horizontal_aperture": 1.9199999570846558,
+    "vertical_aperture": 1.44
+   }
+  },
+  "resolution": [
+   640,
+   480
+  ],
+  "camera_hz": 25,
+  "record": {
+   "formats": [
+    "lerobot_v21",
+    "sim_info"
+   ],
+   "clear_buffer_on_failure": true,
+   "lerobot": {
+    "subsample_every": 2
+   }
+  }
+ }
+}
\ No newline at end of file
diff --git a/N004/stretch3/dr_off/seed_1029/reports/N004_easy_s1029_e1_1110-001856.json b/N004/stretch3/dr_off/seed_1029/reports/N004_easy_s1029_e1_1110-001856.json
new file mode 100644
index 0000000000000000000000000000000000000000..67a30c33ce2d6af6f69dc382383bdc6c2d3ac6de
--- /dev/null
+++ b/N004/stretch3/dr_off/seed_1029/reports/N004_easy_s1029_e1_1110-001856.json
@@ -0,0 +1,1790 @@
+{
+ "task_id": "N004",
+ "task_version": "EXT60-MobileAvatar-v3",
+ "agent_id": "a00",
+ "family_id": "coin_slot_insertion",
+ "primary_category": "C4",
+ "level": "easy",
+ "embodiment": "stretch3",
+ "scene_seed": 1029,
+ "domain_randomization": {
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+    "key": "task.mmb.coin.friction",
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+ "material_loss_during_transport": 0.0,
+ "path_length": 6.874,
+ "max_step_per_tick": 0.006,
+ "base_jumps": 0,
+ "status": {
+  "mobile_success": true,
+  "mobile_reason": "ok",
+  "manipulation_success": true,
+  "manipulation_reason": "coin dropped through the slot, resting in the cavity",
+  "manipulation_details": {
+   "coin_pos": [
+    0.8693,
+    1.9538,
+    0.3772
+   ],
+   "coin_in_cavity_of": "bank_right",
+   "slot_crossings": {
+    "bank_right": {
+     "tick": 2733,
+     "tilt_deg": 5.0
+    }
+   },
+   "hand_to_coin_m": 0.191,
+   "coin_at_rest": true,
+   "coin_carried": true,
+   "coin_max_lift_m": 0.315
+  },
+  "avatar_ok": true,
+  "avatar_details": {
+   "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": 31,
+    "cue_raised_tick": 181,
+    "observed_tick": 1195
+   },
+   "cue_error": null,
+   "cue_visible": true,
+   "cue_started": true,
+   "arm_pointing": true,
+   "arm_ext": 0.93,
+   "arm_down_deg": 57.4,
+   "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": 2722,
+ "wall_s": 545.2,
+ "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"
+}
\ No newline at end of file
diff --git a/N004/stretch3/dr_on/seed_2028/check.json b/N004/stretch3/dr_on/seed_2028/check.json
new file mode 100644
index 0000000000000000000000000000000000000000..742571ab9ae4b894e2b38bd65cb7522142298d70
--- /dev/null
+++ b/N004/stretch3/dr_on/seed_2028/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": "1342 rows vs ceil(2684/2) = 1342"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 81..2763, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "60.12 MB, 1342 frames at 25 fps, mean luma 79..151, std 31, new picture 1341x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1342 vs 1342"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "46.90 MB, 1342 frames at 25 fps, mean luma 112..186, std 37, new picture 1341x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1342 vs 1342"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "coinchain/000/sim_info"
+  }
+ }
+}
\ No newline at end of file
diff --git a/N004/stretch3/dr_on/seed_2028/check.txt b/N004/stretch3/dr_on/seed_2028/check.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5995d5b6855878ab49bf1a7349cdcfd4a6298aca
--- /dev/null
+++ b/N004/stretch3/dr_on/seed_2028/check.txt
@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n004_str_on_2028/out  task=N004  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n004_str_on_2028/out/coinchain/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1342  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: 1342 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 1342 at dataset fps 25 = 53.68 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1342 rows vs ceil(2684/2) = 1342
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 81..2763, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 60.12 MB, 1342 frames at 25 fps, mean luma 79..151, std 31, new picture 1341x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1342 vs 1342
+[PASS] video observation.images.wrist decodes, 640x480, not black: 46.90 MB, 1342 frames at 25 fps, mean luma 112..186, std 37, new picture 1341x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1342 vs 1342
+parquet size 2.80 MB
+[PASS] sim_info present: coinchain/000/sim_info
+dataset size 110.24 MB; whole cell dir 111.6 MB
+RESULT: ALL PASS
diff --git a/N004/stretch3/dr_on/seed_2028/coinchain/000/completed/0.json b/N004/stretch3/dr_on/seed_2028/coinchain/000/completed/0.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed71c2c4b0b02bf0aff42e87e036a384f61c3116
--- /dev/null
+++ b/N004/stretch3/dr_on/seed_2028/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}
\ No newline at end of file
diff --git a/N004/stretch3/dr_on/seed_2028/coinchain/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N004/stretch3/dr_on/seed_2028/coinchain/000/lerobot_v21/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ddbd9a30eeef54529c1b43a3ac168cb0e201d3fd
--- /dev/null
+++ b/N004/stretch3/dr_on/seed_2028/coinchain/000/lerobot_v21/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a4e979144e1e6ebaf567d2fdc3d96ba34f15c54b2d7144aaf0c8f46822a4843
+size 2795125
diff --git a/N004/stretch3/dr_on/seed_2028/coinchain/000/lerobot_v21/meta/episodes.jsonl b/N004/stretch3/dr_on/seed_2028/coinchain/000/lerobot_v21/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5445486ac0dcc51e8f1b9396a5168a296f969d9d
--- /dev/null
+++ b/N004/stretch3/dr_on/seed_2028/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": 1342, "magicsim/control_steps": 2684, "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 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, slightly above table height."}
diff --git a/N004/stretch3/dr_on/seed_2028/coinchain/000/lerobot_v21/meta/episodes_stats.jsonl b/N004/stretch3/dr_on/seed_2028/coinchain/000/lerobot_v21/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..dee18a46991a66ae7a7d31b34aa5e2a0b5f12620
--- /dev/null
+++ b/N004/stretch3/dr_on/seed_2028/coinchain/000/lerobot_v21/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"action": {"mean": [0.13220314199282565, 0.0, 0.02699588956352984, 0.23456476279013913, -0.4171410862761709, 0.6480961265667007, -0.6722963780120303, 0.0028182978579953714, -0.2863403576646835, -0.0868435358981444, 0.485096870342772], "std": [0.14221797557129925, 0.0, 0.09792321847715497, 0.9446693938233708, 1.5749339533309683, 0.0999818684387027, 0.45284293060596736, 0.008269731731936712, 0.458737479098825, 0.20712754426070693, 0.4997778473746354], "min": [0.0, 0.0, -0.2276669591665268, -2.97971773147583, -1.873518705368042, 0.36768007278442383, -0.9999999403953552, -0.00021198391914367676, -0.7068277597427368, -0.7036039233207703, 0.0], "max": [0.30000001192092896, 0.0, 0.4000000059604645, 0.9002020359039307, 1.9668543338775635, 0.7197511196136475, 0.7071067690849304, 0.04259580373764038, 0.7071067690849304, 0.0257900170981884, 1.0], "count": [1342]}, "action_is_hold": {"mean": [0.0, 0.0, 0.0, 0.028315946348733235, 0.028315946348733235, 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diff --git a/N004/stretch3/dr_on/seed_2028/coinchain/000/lerobot_v21/meta/extra/episode_000000.json b/N004/stretch3/dr_on/seed_2028/coinchain/000/lerobot_v21/meta/extra/episode_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..45e2320152ec8103d38dff024e14212e9fd77b1e
--- /dev/null
+++ b/N004/stretch3/dr_on/seed_2028/coinchain/000/lerobot_v21/meta/extra/episode_000000.json
@@ -0,0 +1,876 @@
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+   "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 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, slightly above 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": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Coinchain the 1.5707963267948966.",
+   "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
+}
\ No newline at end of file
diff --git a/N004/stretch3/dr_on/seed_2028/coinchain/000/lerobot_v21/meta/info.json b/N004/stretch3/dr_on/seed_2028/coinchain/000/lerobot_v21/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ad5b5f33484e387bcb8420d1b0bca5c39034200
--- /dev/null
+++ b/N004/stretch3/dr_on/seed_2028/coinchain/000/lerobot_v21/meta/info.json
@@ -0,0 +1,1131 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "HelloRobotCfg",
+    "total_episodes": 1,
+    "total_frames": 1342,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                11
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "arm_action_0",
+                "arm_action_1",
+                "arm_action_2",
+                "arm_action_3",
+                "arm_action_4",
+                "arm_action_5",
+                "arm_action_6",
+                "gripper"
+            ]
+        },
+        "action_is_hold": {
+            "dtype": "bool",
+            "shape": [
+                11
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "joint_lift",
+                "joint_head_pan",
+                "joint_head_tilt",
+                "joint_arm_l3",
+                "joint_arm_l2",
+                "joint_arm_l1",
+                "joint_arm_l0",
+                "joint_wrist_yaw",
+                "joint_wrist_pitch",
+                "joint_wrist_roll",
+                "joint_gripper_finger_left",
+                "joint_gripper_finger_right"
+            ]
+        },
+        "observation.joint_vel": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "joint_lift",
+                "joint_head_pan",
+                "joint_head_tilt",
+                "joint_arm_l3",
+                "joint_arm_l2",
+                "joint_arm_l1",
+                "joint_arm_l0",
+                "joint_wrist_yaw",
+                "joint_wrist_pitch",
+                "joint_wrist_roll",
+                "joint_gripper_finger_left",
+                "joint_gripper_finger_right"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                882
+            ],
+            "names": [
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+                "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": [
+                976
+            ],
+            "names": null
+        },
+        "action.applied": {
+            "dtype": "float32",
+            "shape": [
+                13
+            ],
+            "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
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/N004/stretch3/dr_on/seed_2028/coinchain/000/lerobot_v21/meta/magicsim_manifest.json b/N004/stretch3/dr_on/seed_2028/coinchain/000/lerobot_v21/meta/magicsim_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdeb0fe7b4be980ccfe5864756bf270d49195abf
--- /dev/null
+++ b/N004/stretch3/dr_on/seed_2028/coinchain/000/lerobot_v21/meta/magicsim_manifest.json
@@ -0,0 +1,259 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 00:19:33"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "HelloRobot",
+                "cfg": "HelloRobotCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "HelloRobot.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HelloRobotBaseAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "HelloRobot.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "arm_action_0",
+                    "arm_action_1",
+                    "arm_action_2",
+                    "arm_action_3",
+                    "arm_action_4",
+                    "arm_action_5",
+                    "arm_action_6"
+                ],
+                "source": "HelloRobotIKAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "HelloRobot.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
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+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
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+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_vel",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "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": {
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+    },
+    "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"
+    }
+}
\ No newline at end of file
diff --git a/N004/stretch3/dr_on/seed_2028/coinchain/000/lerobot_v21/meta/stats.json b/N004/stretch3/dr_on/seed_2028/coinchain/000/lerobot_v21/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..2442580f269d5a50c6db20f2f85a7cac589bd53e
--- /dev/null
+++ b/N004/stretch3/dr_on/seed_2028/coinchain/000/lerobot_v21/meta/stats.json
@@ -0,0 +1,8125 @@
+{
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diff --git a/N004/stretch3/dr_on/seed_2028/coinchain/000/lerobot_v21/meta/tasks.jsonl b/N004/stretch3/dr_on/seed_2028/coinchain/000/lerobot_v21/meta/tasks.jsonl
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+                        "draw": [
+                            7.11991
+                        ],
+                        "key": "task.mmb.stations.S.yaw_deg",
+                        "before": 0.0,
+                        "after": 7.119908192438661
+                    },
+                    {
+                        "group": 2,
+                        "kind": "xy",
+                        "amp": 0.01,
+                        "draw": [
+                            0.0097,
+                            0.00684
+                        ],
+                        "key": "task.mmb.holder.centre",
+                        "before": [
+                            0.88,
+                            -1.6
+                        ],
+                        "after": [
+                            0.8896985245651338,
+                            -1.5931550878474368
+                        ]
+                    },
+                    {
+                        "group": 3,
+                        "kind": "scale",
+                        "amp": 0.2,
+                        "draw": [
+                            0.95983
+                        ],
+                        "key": "task.mmb.coin.friction",
+                        "before": 1.5,
+                        "after": 1.4397482953467284
+                    },
+                    {
+                        "group": 3,
+                        "kind": "scale",
+                        "amp": 0.2,
+                        "draw": [
+                            0.95983
+                        ],
+                        "key": "task.mmb.coin.mass",
+                        "before": 0.08,
+                        "after": 0.07678657575182551
+                    },
+                    {
+                        "group": 4,
+                        "kind": "add",
+                        "amp": 20.0,
+                        "draw": [
+                            13.17194
+                        ],
+                        "key": "task.mmb.avatar.start_tick",
+                        "before": 30,
+                        "after": 43
+                    }
+                ],
+                "dr_seed": 2028,
+                "_fixtures_added": true
+            },
+            "command": {
+                "MmbChain": null,
+                "CoinChain": {
+                    "robot_id": 0,
+                    "init_limit": 80,
+                    "settle_after_last": 400,
+                    "phases": [
+                        {
+                            "name": "nav_A",
+                            "skill": "NavToPose",
+                            "station": "A",
+                            "align": {
+                                "from": "holder.centre",
+                                "dy": 0.021
+                            },
+                            "retries": 1
+                        },
+                        {
+                            "name": "hold_A",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_hold"
+                            }
+                        },
+                        {
+                            "name": "look",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_offset"
+                            },
+                            "observe": true,
+                            "max_tries": 30
+                        },
+                        {
+                            "name": "open0",
+                            "skill": "Move",
+                            "hand": "open"
+                        },
+                        {
+                            "name": "pre_pinch",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_pinch",
+                                "tip_depth": 0.045,
+                                "dz": 0.1
+                            },
+                            "station": "A",
+                            "retries": 2
+                        },
+                        {
+                            "name": "down",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_pinch",
+                                "tip_depth": 0.045,
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "close",
+                            "skill": "Move",
+                            "hand": "close"
+                        },
+                        {
+                            "name": "lift",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_offset",
+                                "dz": 0.12
+                            },
+                            "station": "A",
+                            "event": "grasp"
+                        },
+                        {
+                            "name": "fold",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "base_point",
+                                "dx": -0.021,
+                                "dy": -0.23,
+                                "z": 0.68
+                            },
+                            "retries": 1
+                        },
+                        {
+                            "name": "nav_B",
+                            "skill": "NavToPose",
+                            "station": "B",
+                            "align": {
+                                "from": "bank",
+                                "which": "observed",
+                                "dy": 0.021
+                            },
+                            "retries": 1
+                        },
+                        {
+                            "name": "hold_B",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_hold"
+                            }
+                        },
+                        {
+                            "name": "pre_slot",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.08
+                            },
+                            "station": "B",
+                            "retries": 2
+                        },
+                        {
+                            "name": "align_a",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.08
+                            }
+                        },
+                        {
+                            "name": "align_b",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.08
+                            }
+                        },
+                        {
+                            "name": "down_slot",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "align_c",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "align_d",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "release",
+                            "skill": "Move",
+                            "hand": "open",
+                            "station": "B",
+                            "event": "release"
+                        },
+                        {
+                            "name": "retreat",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_offset",
+                                "dz": 0.1
+                            }
+                        },
+                        {
+                            "name": "settle",
+                            "skill": "Wait",
+                            "ticks": 120
+                        }
+                    ],
+                    "remap": {
+                        "MoveWhole:-1": [
+                            "Move",
+                            0
+                        ],
+                        "Move:4": [
+                            "Move",
+                            0
+                        ]
+                    }
+                }
+            }
+        },
+        "collect": {
+            "command": {
+                "MmbChain": null,
+                "CoinChain": {
+                    "robot_id": 0,
+                    "init_limit": 80,
+                    "settle_after_last": 400,
+                    "phases": [
+                        {
+                            "name": "nav_A",
+                            "skill": "NavToPose",
+                            "station": "A",
+                            "align": {
+                                "from": "holder.centre",
+                                "dy": 0.021
+                            },
+                            "retries": 1
+                        },
+                        {
+                            "name": "hold_A",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_hold"
+                            }
+                        },
+                        {
+                            "name": "look",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_offset"
+                            },
+                            "observe": true,
+                            "max_tries": 30
+                        },
+                        {
+                            "name": "open0",
+                            "skill": "Move",
+                            "hand": "open"
+                        },
+                        {
+                            "name": "pre_pinch",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_pinch",
+                                "tip_depth": 0.045,
+                                "dz": 0.1
+                            },
+                            "station": "A",
+                            "retries": 2
+                        },
+                        {
+                            "name": "down",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_pinch",
+                                "tip_depth": 0.045,
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "close",
+                            "skill": "Move",
+                            "hand": "close"
+                        },
+                        {
+                            "name": "lift",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_offset",
+                                "dz": 0.12
+                            },
+                            "station": "A",
+                            "event": "grasp"
+                        },
+                        {
+                            "name": "fold",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "base_point",
+                                "dx": -0.021,
+                                "dy": -0.23,
+                                "z": 0.68
+                            },
+                            "retries": 1
+                        },
+                        {
+                            "name": "nav_B",
+                            "skill": "NavToPose",
+                            "station": "B",
+                            "align": {
+                                "from": "bank",
+                                "which": "observed",
+                                "dy": 0.021
+                            },
+                            "retries": 1
+                        },
+                        {
+                            "name": "hold_B",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_hold"
+                            }
+                        },
+                        {
+                            "name": "pre_slot",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.08
+                            },
+                            "station": "B",
+                            "retries": 2
+                        },
+                        {
+                            "name": "align_a",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.08
+                            }
+                        },
+                        {
+                            "name": "align_b",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.08
+                            }
+                        },
+                        {
+                            "name": "down_slot",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "align_c",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "align_d",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "coin_over_slot",
+                                "bank": "observed",
+                                "dz": 0.0
+                            }
+                        },
+                        {
+                            "name": "release",
+                            "skill": "Move",
+                            "hand": "open",
+                            "station": "B",
+                            "event": "release"
+                        },
+                        {
+                            "name": "retreat",
+                            "skill": "Move",
+                            "mode": 0,
+                            "target": {
+                                "kind": "eef_offset",
+                                "dz": 0.1
+                            }
+                        },
+                        {
+                            "name": "settle",
+                            "skill": "Wait",
+                            "ticks": 120
+                        }
+                    ],
+                    "remap": {
+                        "MoveWhole:-1": [
+                            "Move",
+                            0
+                        ],
+                        "Move:4": [
+                            "Move",
+                            0
+                        ]
+                    }
+                }
+            },
+            "auto_collect": {
+                "max_trajectories": 1
+            },
+            "record": {
+                "output_dir": "/mnt/scratch/xc536_atomic/n004_str_on_2028/out",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            },
+            "global_planner": {
+                "NavTo": {
+                    "use_navmesh": true,
+                    "use_absolute": true,
+                    "translation_threshold": 0.02,
+                    "rotation_threshold": 0.01,
+                    "num_path_segments": 30,
+                    "start_forward_offset": 0.0,
+                    "visualize_path": false,
+                    "carry_arm": true
+                },
+                "MobileMoveL": {
+                    "translation_threshold": 0.006,
+                    "rotation_threshold": 0.05,
+                    "motiongen_distance_threshold": 0.0,
+                    "timeout_steps": 1500,
+                    "stall_release_ticks": 100,
+                    "stall_release_factor": 5.0,
+                    "debug": false,
+                    "debug_viz": false,
+                    "debug_sphere": false,
+                    "reactive": false,
+                    "base_pos_threshold": 0.025,
+                    "base_rot_threshold": 0.05,
+                    "eef_pos_threshold": 0.02,
+                    "eef_rot_threshold": 0.25,
+                    "waypoint_max_steps": 60
+                },
+                "ParallelGripper": {
+                    "gripper_threshold": 0.0005,
+                    "timeout_steps": 100
+                }
+            },
+            "atomic_skill": {
+                "NavToPose": {
+                    "robot_id": 0
+                },
+                "Move": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "arm_planner": "MobileMoveL",
+                    "hand_planner": "ParallelGripper",
+                    "open_value": 0.0,
+                    "close_value": 1.0,
+                    "hold_steps": 25,
+                    "ramp_steps": 0
+                },
+                "MoveWhole": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "arm_planner": "MobileMoveL",
+                    "hand_planner": "ParallelGripper",
+                    "open_value": 0.0,
+                    "close_value": 1.0,
+                    "hold_steps": 25,
+                    "ramp_steps": 0
+                }
+            }
+        },
+        "visual_dr": {
+            "keep": [
+                "bank_left_*",
+                "bank_right_*",
+                "Person"
+            ]
+        }
+    },
+    "git_sha": null,
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}
\ No newline at end of file
diff --git a/N004/stretch3/dr_on/seed_2028/coinchain/000/sim_info/0/actions.npz b/N004/stretch3/dr_on/seed_2028/coinchain/000/sim_info/0/actions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a4d3388d00d5f70846e850b615525d91c5e784af
--- /dev/null
+++ b/N004/stretch3/dr_on/seed_2028/coinchain/000/sim_info/0/actions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97d877c2e59be09f8bf810483c8eb053d7a6e12e76d162028607602d72963cbb
+size 489656
diff --git a/N004/stretch3/dr_on/seed_2028/coinchain/000/sim_info/0/device_commands.jsonl b/N004/stretch3/dr_on/seed_2028/coinchain/000/sim_info/0/device_commands.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/N004/stretch3/dr_on/seed_2028/coinchain/000/sim_info/0/device_events.jsonl b/N004/stretch3/dr_on/seed_2028/coinchain/000/sim_info/0/device_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/N004/stretch3/dr_on/seed_2028/coinchain/000/sim_info/0/scene_snapshot.json b/N004/stretch3/dr_on/seed_2028/coinchain/000/sim_info/0/scene_snapshot.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ec47f078184d549b5afdd30812f1b2a8940457b
--- /dev/null
+++ b/N004/stretch3/dr_on/seed_2028/coinchain/000/sim_info/0/scene_snapshot.json
@@ -0,0 +1,2747 @@
+{
+    "trajectory_id": 0,
+    "env_id": 0,
+    "run_id": "coinchain/000",
+    "task_type": "MmbChain",
+    "success": true,
+    "timing": {
+        "fps": 50.0,
+        "sim_dt": 0.005,
+        "decimation": 4
+    },
+    "restore_interface": {
+        "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
+    },
+    "snapshot": {
+        "env_id": 0,
+        "scene": {
+            "objects": [
+                {
+                    "table_A": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    1.0,
+                                    -1.6,
+                                    0.18
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.5,
+                                    0.8,
+                                    0.3
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.78,
+                                        0.72,
+                                        0.62
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 1.0,
+                                        "dynamic_friction": 1.0,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1.0,
+                                        1.0,
+                                        1.0
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "table_B": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    1.0,
+                                    2.2,
+                                    0.18
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.5,
+                                    1.0,
+                                    0.3
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.62,
+                                        0.72,
+                                        0.78
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 1.0,
+                                        "dynamic_friction": 1.0,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1.0,
+                                        1.0,
+                                        1.0
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "holder_rail_l": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    0.8896985245651338,
+                                    -1.5765550878474368,
+                                    0.3425
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.09,
+                                    0.02,
+                                    0.025
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.45,
+                                        0.45,
+                                        0.5
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 0.8,
+                                        "dynamic_friction": 0.8,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1.0,
+                                        1.0,
+                                        1.0
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "holder_rail_r": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    0.8896985245651338,
+                                    -1.6097550878474367,
+                                    0.3425
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.09,
+                                    0.02,
+                                    0.025
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.45,
+                                        0.45,
+                                        0.5
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 0.8,
+                                        "dynamic_friction": 0.8,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1.0,
+                                        1.0,
+                                        1.0
+                                    ]
+                                }
+                            },
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+        "avatars": {
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+                "cat": "Person",
+                "inst_id": 1,
+                "asset": [
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+                    "/mnt/scratch/xc536_atomic_local/repo_b3820fd82/Assets/Avatar/Medical/F_Medical_01/F_Medical_01.usd"
+                ],
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+                "joint_names": [
+                    "RL_BoneRoot",
+                    "Hip",
+                    "Pelvis",
+                    "L_Thigh",
+                    "L_Calf",
+                    "L_Foot",
+                    "L_ToeBaseShareBone",
+                    "L_ToeBase",
+                    "L_PinkyToe1",
+                    "L_RingToe1",
+                    "L_MidToe1",
+                    "L_IndexToe1",
+                    "L_BigToe1",
+                    "L_CalfTwist01",
+                    "L_CalfTwist02",
+                    "L_KneeShareBone",
+                    "L_ThighTwist01",
+                    "L_ThighTwist02",
+                    "R_Thigh",
+                    "R_Calf",
+                    "R_KneeShareBone",
+                    "R_Foot",
+                    "R_ToeBase",
+                    "R_BigToe1",
+                    "R_PinkyToe1",
+                    "R_RingToe1",
+                    "R_IndexToe1",
+                    "R_MidToe1",
+                    "R_ToeBaseShareBone",
+                    "R_CalfTwist01",
+                    "R_CalfTwist02",
+                    "R_ThighTwist01",
+                    "R_ThighTwist02",
+                    "Waist",
+                    "Spine01",
+                    "Spine02",
+                    "NeckTwist01",
+                    "NeckTwist02",
+                    "Head",
+                    "FacialBone",
+                    "JawRoot",
+                    "Tongue01",
+                    "Tongue02",
+                    "Tongue03",
+                    "Teeth02",
+                    "R_Eye",
+                    "L_Eye",
+                    "UpperJaw",
+                    "Teeth01",
+                    "L_Clavicle",
+                    "L_Upperarm",
+                    "L_Forearm",
+                    "L_ForearmTwist01",
+                    "L_ForearmTwist02",
+                    "L_ElbowShareBone",
+                    "L_Hand",
+                    "L_Pinky1",
+                    "L_Pinky2",
+                    "L_Pinky3",
+                    "L_Ring1",
+                    "L_Ring2",
+                    "L_Ring3",
+                    "L_Mid1",
+                    "L_Mid2",
+                    "L_Mid3",
+                    "L_Index1",
+                    "L_Index2",
+                    "L_Index3",
+                    "L_Thumb1",
+                    "L_Thumb2",
+                    "L_Thumb3",
+                    "L_UpperarmTwist01",
+                    "L_UpperarmTwist02",
+                    "L_RibsTwist",
+                    "L_Breast",
+                    "R_RibsTwist",
+                    "R_Breast",
+                    "R_Clavicle",
+                    "R_Upperarm",
+                    "R_Forearm",
+                    "R_ElbowShareBone",
+                    "R_ForearmTwist01",
+                    "R_ForearmTwist02",
+                    "R_Hand",
+                    "R_Ring1",
+                    "R_Ring2",
+                    "R_Ring3",
+                    "R_Mid1",
+                    "R_Mid2",
+                    "R_Mid3",
+                    "R_Thumb1",
+                    "R_Thumb2",
+                    "R_Thumb3",
+                    "R_Index1",
+                    "R_Index2",
+                    "R_Index3",
+                    "R_Pinky1",
+                    "R_Pinky2",
+                    "R_Pinky3",
+                    "R_UpperarmTwist01",
+                    "R_UpperarmTwist02"
+                ],
+                "start_state": {
+                    "asset": [
+                        "usd",
+                        "/mnt/scratch/xc536_atomic_local/repo_b3820fd82/Assets/Avatar/Medical/F_Medical_01/F_Medical_01.usd"
+                    ],
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+                            "queue": [],
+                            "loop": false,
+                            "current": null
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+                        "character_state": {
+                            "Action": "None",
+                            "Walk": 0.0,
+                            "PathPoints": [],
+                            "lookAround": 0.0,
+                            "SitWeight": 1.0,
+                            "MotionInPlace": 1.0
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+                            "ik_backend": "animgraph",
+                            "curobo_base": null,
+                            "joint_names": [
+                                "RL_BoneRoot",
+                                "RL_BoneRoot/Hip",
+                                "RL_BoneRoot/Hip/Pelvis",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBaseShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_PinkyToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_RingToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_MidToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_IndexToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_BigToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_CalfTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_CalfTwist01/L_CalfTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_KneeShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_ThighTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_ThighTwist01/L_ThighTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_KneeShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_BigToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_PinkyToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_RingToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_IndexToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_MidToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBaseShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_CalfTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_CalfTwist01/R_CalfTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_ThighTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_ThighTwist01/R_ThighTwist02",
+                                "RL_BoneRoot/Hip/Waist",
+                                "RL_BoneRoot/Hip/Waist/Spine01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01/Tongue02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01/Tongue02/Tongue03",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Teeth02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/R_Eye",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/L_Eye",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/UpperJaw",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/UpperJaw/Teeth01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ForearmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ForearmTwist01/L_ForearmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ElbowShareBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1/L_Pinky2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1/L_Pinky2/L_Pinky3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1/L_Ring2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1/L_Ring2/L_Ring3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1/L_Mid2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1/L_Mid2/L_Mid3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1/L_Index2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1/L_Index2/L_Index3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1/L_Thumb2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1/L_Thumb2/L_Thumb3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_UpperarmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_UpperarmTwist01/L_UpperarmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_RibsTwist",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_RibsTwist/L_Breast",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_RibsTwist",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_RibsTwist/R_Breast",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ElbowShareBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ForearmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ForearmTwist01/R_ForearmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Ring1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Ring1/R_Ring2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Ring1/R_Ring2/R_Ring3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1/R_Mid2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1/R_Mid2/R_Mid3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Thumb1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Thumb1/R_Thumb2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Thumb1/R_Thumb2/R_Thumb3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Index1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Index1/R_Index2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Index1/R_Index2/R_Index3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Pinky1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Pinky1/R_Pinky2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Pinky1/R_Pinky2/R_Pinky3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_UpperarmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_UpperarmTwist01/R_UpperarmTwist02"
+                            ],
+                            "positions": [
+                                [
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+}
\ No newline at end of file
diff --git a/N004/stretch3/dr_on/seed_2028/coinchain/000/sim_info/0/sim_states.npz b/N004/stretch3/dr_on/seed_2028/coinchain/000/sim_info/0/sim_states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..57393fe10ee8bdcfaecace923a6e729e99ff70c8
--- /dev/null
+++ b/N004/stretch3/dr_on/seed_2028/coinchain/000/sim_info/0/sim_states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62b6cc6dc48148bca71d818875a294a78072f7a7e0ce37944a6285d2a93888d8
+size 617552
diff --git a/N004/stretch3/dr_on/seed_2028/coinchain/000/sim_info/magicsim_manifest.json b/N004/stretch3/dr_on/seed_2028/coinchain/000/sim_info/magicsim_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7eca851516ecb720c159e06b1912ee2d41eb083
--- /dev/null
+++ b/N004/stretch3/dr_on/seed_2028/coinchain/000/sim_info/magicsim_manifest.json
@@ -0,0 +1,228 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 00:19:52"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "HelloRobot",
+                "cfg": "HelloRobotCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
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+                "end": 3,
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+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HelloRobotBaseAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "HelloRobot.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "arm_action_0",
+                    "arm_action_1",
+                    "arm_action_2",
+                    "arm_action_3",
+                    "arm_action_4",
+                    "arm_action_5",
+                    "arm_action_6"
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+                "source": "HelloRobotIKAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "HelloRobot.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
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+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
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+    "state_layout": {
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+                "names": [
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+                    "dummy_base_prismatic_y_joint",
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+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
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+        "segments": [
+            {
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+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
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+    "generated_run": {
+        "run_id": "coinchain/000",
+        "task_type": "MmbChain"
+    }
+}
\ No newline at end of file
diff --git a/N004/stretch3/dr_on/seed_2028/coinchain/000/visual_dr.json b/N004/stretch3/dr_on/seed_2028/coinchain/000/visual_dr.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f832577692a77f0e5464938cd883cbe9f5a84e0
--- /dev/null
+++ b/N004/stretch3/dr_on/seed_2028/coinchain/000/visual_dr.json
@@ -0,0 +1,695 @@
+{
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+      "/World/envs/env_0/Robot_0/link_head_pan/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head_pan/visuals_menagerie/g2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head_tilt/collisions/link_head_tilt_collision/node_STL_BINARY_/mesh",
+      "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
+    }
+   ]
+  }
+ ]
+}
\ No newline at end of file
diff --git a/N004/stretch3/dr_on/seed_2028/report.json b/N004/stretch3/dr_on/seed_2028/report.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fb9bae32840ad02115aacbc5941f49a77185843
--- /dev/null
+++ b/N004/stretch3/dr_on/seed_2028/report.json
@@ -0,0 +1,92 @@
+{
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+ "run": "n004_coin_bank_td45-1110-000821",
+ "task": "N004",
+ "level": "easy",
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+ "episodes_success": 1,
+ "stop_reason": "episodes_done",
+ "driver_steps": 2764,
+ "wall_s": 690.5,
+ "reports": [
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+ ],
+ "failure_reasons": [
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+ ],
+ "record": {
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+    "ori": [
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+  "record": {
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+   "clear_buffer_on_failure": true,
+   "lerobot": {
+    "subsample_every": 2
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+  }
+ }
+}
\ No newline at end of file
diff --git a/N004/stretch3/dr_on/seed_2028/reports/N004_easy_s2028_e1_1110-001928.json b/N004/stretch3/dr_on/seed_2028/reports/N004_easy_s2028_e1_1110-001928.json
new file mode 100644
index 0000000000000000000000000000000000000000..5306fcb4640ce190c8656de4ae70048665e46ecd
--- /dev/null
+++ b/N004/stretch3/dr_on/seed_2028/reports/N004_easy_s2028_e1_1110-001928.json
@@ -0,0 +1,1770 @@
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+  },
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+   "zone": "A",
+   "path_length": 3.561,
+   "station": "A",
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+  },
+  {
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+   "tick": 1691,
+   "base": [
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+   "zone": "A",
+   "path_length": 4.452
+  },
+  {
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+   "tick": 2021,
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+    1.561
+   ],
+   "zone": null,
+   "path_length": 6.432
+  },
+  {
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+   "tick": 2737,
+   "base": [
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+   ],
+   "zone": "B",
+   "path_length": 7.097,
+   "station": "B",
+   "phase": "release"
+  }
+ ],
+ "transport_state": {
+  "coin_ever_lifted_and_held": true,
+  "coin_max_lift_m": 0.315,
+  "coin_dropped_outside_cavity": false,
+  "coin_pos": [
+   0.879,
+   1.928,
+   0.372
+  ],
+  "material_loss": 0.0
+ },
+ "manipulation_success": true,
+ "mobile_success": true,
+ "full_success": true,
+ "failure_reason": null,
+ "fail_class": null,
+ "distance_to_first_interaction": 3.561,
+ "interstation_path_lengths": {
+  "A->B": 3.535
+ },
+ "station_transition_order": [
+  "A",
+  "B"
+ ],
+ "final_approach_pose": [
+  0.312,
+  1.959,
+  1.58
+ ],
+ "regrasp_events": [],
+ "material_loss_during_transport": 0.0,
+ "path_length": 7.097,
+ "max_step_per_tick": 0.006,
+ "base_jumps": 0,
+ "status": {
+  "mobile_success": true,
+  "mobile_reason": "ok",
+  "manipulation_success": true,
+  "manipulation_reason": "coin dropped through the slot, resting in the cavity",
+  "manipulation_details": {
+   "coin_pos": [
+    0.879,
+    1.9284,
+    0.3716
+   ],
+   "coin_in_cavity_of": "bank_right",
+   "slot_crossings": {
+    "bank_right": {
+     "tick": 2715,
+     "tilt_deg": 5.6
+    }
+   },
+   "hand_to_coin_m": 0.197,
+   "coin_at_rest": true,
+   "coin_carried": true,
+   "coin_max_lift_m": 0.315
+  },
+  "avatar_ok": true,
+  "avatar_details": {
+   "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": 43,
+    "cue_raised_tick": 193,
+    "observed_tick": 1166
+   },
+   "cue_error": null,
+   "cue_visible": true,
+   "cue_started": true,
+   "arm_pointing": true,
+   "arm_ext": 0.93,
+   "arm_down_deg": 57.6,
+   "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": 2684,
+ "wall_s": 534.3,
+ "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"
+}
\ No newline at end of file
diff --git a/N011/go2_arm/dr_off/seed_1051/check.json b/N011/go2_arm/dr_off/seed_1051/check.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b35afcd7cb3f3b9a416bc7616a4e0873248d8ab
--- /dev/null
+++ b/N011/go2_arm/dr_off/seed_1051/check.json
@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'; expected 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "6450 rows vs ceil(12899/2) = 6450"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 241..13139, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "154.80 MB, 6450 frames at 25 fps, mean luma 102..149, std 9, new picture 6449x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "6450 vs 6450"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "140.72 MB, 6450 frames at 25 fps, mean luma 94..157, std 35, new picture 6449x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "6450 vs 6450"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "ladle/000/sim_info"
+  }
+ }
+}
\ No newline at end of file
diff --git a/N011/go2_arm/dr_off/seed_1051/check.txt b/N011/go2_arm/dr_off/seed_1051/check.txt
new file mode 100644
index 0000000000000000000000000000000000000000..b63f5bbb800c0420f8a29f02e57a8139a8931f13
--- /dev/null
+++ b/N011/go2_arm/dr_off/seed_1051/check.txt
@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n011_go2_off_1051_r1/out  task=N011  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n011_go2_off_1051_r1/out/ladle/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 6450  videos 2  robot_type Go2PlusCfg
+[PASS] codebase v2.1: v2.1
+[PASS] dataset fps = 25: info.fps 25
+(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only)
+[PASS] parquet episodes: 1 files, info.total_episodes=1
+--- episode file episode_000000.parquet: 6450 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']
+[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'; expected 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'
+rows 6450 at dataset fps 25 = 258.00 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 6450 rows vs ceil(12899/2) = 6450
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 241..13139, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 154.80 MB, 6450 frames at 25 fps, mean luma 102..149, std 9, new picture 6449x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 6450 vs 6450
+[PASS] video observation.images.wrist decodes, 640x480, not black: 140.72 MB, 6450 frames at 25 fps, mean luma 94..157, std 35, new picture 6449x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 6450 vs 6450
+parquet size 637.11 MB
+[PASS] sim_info present: ladle/000/sim_info
+dataset size 938.91 MB; whole cell dir 1982.8 MB
+RESULT: ALL PASS
diff --git a/N011/go2_arm/dr_off/seed_1051/config.yaml b/N011/go2_arm/dr_off/seed_1051/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..2845699b7cc6ffd27a678189dee3b31744e5cf81
--- /dev/null
+++ b/N011/go2_arm/dr_off/seed_1051/config.yaml
@@ -0,0 +1,758 @@
+env_string: LadleEnv-V0
+env:
+  sim:
+    device: cpu
+    use_fabric: false
+    decimation: 4
+    dt: 0.005
+    seed: 1051
+    soft_resets: 1000000
+    scene:
+      num_envs: 1
+      env_spacing: 14
+    render:
+      rendering_mode: performance
+      enable_reflections: false
+      enable_global_illumination: false
+      enable_translucency: false
+      enable_dl_denoiser: false
+  robot:
+    Go2Plus:
+      name: go2plus
+      type: mobilemanip
+      common:
+        pos:
+        - - -3.093526604384227
+          - -1.6214422375036506
+          - 0.45
+        - - -3.093526604384227
+          - -1.6214422375036506
+          - 0.45
+        ori:
+        - - 0
+          - 0
+          - 29.999999999999993
+        - - 0
+          - 0
+          - 29.999999999999993
+        initial_joint_pos: null
+      action:
+        base_action: unified
+        arm_action: ik_curobo
+        eef_action: binary
+      reset: default
+      planner:
+        dual_mode: true
+        base_joint_names:
+        - base_x
+        - base_y
+        - base_yaw
+        - base_height
+        ik:
+          type: go2plus
+          enable: true
+          ik_num_instances: 1
+          ik_batch_size: 1
+          ik_num_seeds: 64
+          ik_position_threshold: 0.005
+          ik_rotation_threshold: 0.05
+          microbatch_wait_ms: 20.0
+          relative_to_world_frame: false
+          eef_num: 1
+          debug: false
+          seed_use_live_joint_pos: true
+        motiongen:
+          type: go2plus
+          enable: true
+          batch_size: 1
+          debug: false
+          motiongen_num_instances: 1
+          microbatch_wait_ms: 400.0
+          mode: position
+          relative_to_world_frame: false
+          eef_num: 1
+          seed_use_live_joint_pos: true
+          anchor_ik_seeds_to_current_state: false
+          num_trajopt_seeds: 1
+          num_ik_seeds: 4
+          max_attempts: 4
+          joint_limit_retry_weight: 100000000.0
+          start_state_limit_inset: 0.002
+        body:
+          type: nav
+          dwb_type: dwb_quadruped
+          dwb_quadruped:
+            device: cpu
+            dt: 0.02
+            debug: false
+            num_rollout_steps: 60
+            num_speed_samples: 11
+            num_steer_samples: 11
+            num_vx_samples: 7
+            num_vy_samples: 7
+            num_yaw_samples: 7
+            max_accel: 0.4
+            max_steer_rate: 1.5
+            max_accel_vx: 0.4
+            max_accel_vy: 0.4
+            max_yaw_accel: 0.4444444444444445
+            w_goal: 6.0
+            w_path: 24.0
+            w_vel: 0.2
+            w_vy: 0.0
+            dilate_radius: 0.2
+            goal_cost_mode: path
+            room_size: 12.0
+            occupancy_update_interval: 25
+            scan_height: 0.38
+            scan_min_z: 0.15
+            scan_max_z: 0.63
+            goal_pos_threshold: 0.16
+            goal_yaw_threshold: 0.08
+            goal_yaw_hysteresis: 0.02
+            kp_goal_yaw: 4.0
+            heading_reference: path
+            turn_yaw_threshold: 0.8
+            heading_lookahead: 0.8
+            heading_min_leg: 0.35
+            route_yaw_gain: 2.0
+            min_vx: -0.2
+            max_vx: 0.2
+            min_vy: -0.2
+            max_vy: 0.2
+            min_yaw_rate: -0.22222222222222224
+            max_yaw_rate: 0.22222222222222224
+            dynamic_window_source: command
+            default_height: 0.35
+            safety_min_progress_speed: 0.1
+            safety_stop_distance: 0.2
+            safety_enabled: true
+            safety_deceleration: 0.5
+            safety_reaction_time: 0.5
+            safety_release_distance: 0.35
+            scan_type: 3d
+            robot_type: quadruped
+            velocity_frame: body
+          p_controller:
+            velocity_frame: body
+            nav_upgrade_distance: 0.03
+            nav_heading_target: -1
+            kp_linear_x: 3.0
+            kd_linear_x: 0.4
+            kp_linear_y: 3.0
+            kd_linear_y: 0.4
+            kp_angular: 1.5
+            kd_angular: 0.2
+            kp_angular_turning_only: 1.5
+            kd_angular_turning_only: 0.2
+            min_vel: -0.4
+            max_vel: 0.5
+            linear_dead_zone: 0.01
+            angular_dead_zone: 0.05
+        arm:
+          type: default
+        eef:
+          type: default
+      physics:
+        robot_radius: 0.5
+  camera:
+    enable_tiled: false
+    colorize_depth: false
+    head:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.8231182098388672
+        horizontal_aperture: 1.9199999570846558
+        vertical_aperture: 1.4407838582992554
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/Bodies/go2_base
+        pos:
+        - 0.332051
+        - 0.038027
+        - 0.093559
+        ori:
+        - 169.9473
+        - -88.6452
+        - 81.5985
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+    wrist:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.8517500162124634
+        horizontal_aperture: 1.9199999570846558
+        vertical_aperture: 1.4393036365509033
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/Bodies/piper_link6
+        pos:
+        - -0.074987
+        - 0.005289
+        - 0.045821
+        ori:
+        - 179.3135
+        - -20.212
+        - 88.9402
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+  scene:
+    terrain:
+      type: nav_room
+      collision: true
+      hide_top_walls: true
+      usd:
+      - $MAGICSIM_ASSETS/Room/Collected_SimpleRoom
+      annotation: Annotation
+      random: false
+      pos:
+      - 0.0
+      - 0.0
+      - 0.0
+      ori:
+      - 0.0
+      - 0.0
+      - 0.0
+      scale:
+      - 1.0
+      - 1.0
+      - 1.0
+      physics_material:
+        static_friction: 1.0
+        dynamic_friction: 1.0
+        restitution: 0.0
+        friction_combine_mode: multiply
+        restitution_combine_mode: multiply
+    background:
+      intensity:
+      - 1000
+      - 1000
+    light:
+      light_1:
+        types:
+        - Dome
+        common:
+          pos:
+          - 0.0
+          - 0.0
+          - 0.0
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          color_temperature_range:
+          - 6500
+          - 6500
+          color_range:
+          - - 1.0
+            - 1.0
+            - 1.0
+          - - 1.0
+            - 1.0
+            - 1.0
+        Dome:
+          intensity_range:
+          - 813.1046276473418
+          - 813.1046276473418
+    water:
+      max_particles: 9000
+      particle:
+        fluid_rest_offset: 0.0027
+        ccd: true
+      look:
+        mode: spheres
+        color:
+        - 0.05
+        - 0.45
+        - 1.0
+        bead_scale: 1.5
+      retire:
+        floor_ttl: 3600.0
+        max_age: 7200.0
+        radius: 30.0
+        below: -2.0
+    objects:
+      table_a:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        table_a_1:
+          pos:
+          - -1.0
+          - 3.2
+          - 0.30500000000000005
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 1.5
+          - 0.6
+          - 0.55
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.35
+              - 0.37
+              - 0.4
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.8286518549162509
+              dynamic_friction: 0.6214888911871881
+              restitution: 0.0
+      table_b:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        table_b_1:
+          pos:
+          - 2.6
+          - 0.4
+          - 0.30500000000000005
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.7
+          - 1.0
+          - 0.55
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.35
+              - 0.37
+              - 0.4
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.7338516609153897
+              dynamic_friction: 0.5503887456865422
+              restitution: 0.0
+      ladle:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Ladle/Object.usda
+        num_per_env: 1
+        random: false
+        ladle_1:
+          pos:
+          - -1.356461713878255
+          - 3.1181436282104684
+          - 0.7410000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 91.63161650281053
+          physics:
+            type: rigid
+            mass: 0.04735565423925975
+            physics_material:
+              static_friction: 1.5064827169589503
+              dynamic_friction: 1.3181723773390814
+              restitution: 0.0
+          water: {}
+      rack_a0:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        rack_a0_1:
+          pos:
+          - -1.35
+          - 3.205
+          - 0.655
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.1
+          - 0.06999999999999999
+          - 0.15000000000000002
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.45
+              - 0.3
+              - 0.18
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.7964129067091601
+              dynamic_friction: 0.59730968003187
+              restitution: 0.0
+      basin:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Basin/Object.usda
+        num_per_env: 1
+        random: false
+        basin_1:
+          pos:
+          - -0.55
+          - 3.2
+          - 0.5950000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.8555687465305941
+              dynamic_friction: 0.6416765598979455
+              restitution: 0.0
+          water: {}
+      cup:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/ReceivingCup/Object.usda
+        num_per_env: 1
+        random: false
+        cup_1:
+          pos:
+          - 2.37954400971941
+          - 0.385500984851842
+          - 0.5810000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          physics:
+            type: rigid
+            mass: 0.20385730642500885
+            physics_material:
+              static_friction: 0.8008363618713675
+              dynamic_friction: 0.6006272714035256
+              restitution: 0.0
+          water: {}
+  nav:
+    navmesh:
+      enabled: true
+      visualize: false
+      bake_timeout_s: 120
+      agent_height_cm: 65
+      min_agent_radius_cm: 30.0
+      max_agent_radius_cm: 30.0
+      max_step_height_cm: 20
+      max_floor_slope_deg: 30
+      agent_island_radius_cm: 5
+      auto_exclude_rigid_bodies: true
+      validate_path_clearance: true
+      validate_path_window: true
+      navmesh_offset_z_m: 0
+      verbose: true
+    occupancymap:
+      cell_size: 0.05
+task:
+  observation: {}
+  reward: {}
+  termination:
+    timeout_steps: 24000
+    success_hold_frames: 1
+  mmb:
+    task_id: N011
+    agent_id: a03
+    embodiment: stretch3
+    level: easy
+    scene_seed: 1051
+    layout:
+      S:
+      - -3.093526604384227
+      - -1.6214422375036506
+      - 0.5235987755982987
+      tables:
+        A:
+          center:
+          - -1.0
+          - 3.2
+          size:
+          - 1.5
+          - 0.6
+          top: 0.5800000000000001
+          color:
+          - 0.35
+          - 0.37
+          - 0.4
+        B:
+          center:
+          - 2.6
+          - 0.4
+          size:
+          - 0.7
+          - 1.0
+          top: 0.5800000000000001
+          color:
+          - 0.35
+          - 0.37
+          - 0.4
+      stations:
+        A:
+          table: A
+          work_point:
+          - -1.35
+          - 3.12
+          arm_dir:
+          - 0.0
+          - 1.0
+          reach: 0.54
+          fwd: 0.0
+          stand:
+          - -1.35
+          - 2.58
+          - 1.5707963267948966
+        B:
+          table: B
+          work_point:
+          - 2.38
+          - 0.4
+          arm_dir:
+          - 1.0
+          - 0.0
+          reach: 0.54
+          fwd: 0.0
+          stand:
+          - 1.8399999999999999
+          - 0.4
+          - 0.0
+    hold_ticks: 40
+    grace_ticks: 400
+    water_settle_ticks: 150
+    object_settle_ticks: 60
+    planning:
+      avoid:
+      - dynamic
+      ignore:
+      - ladle
+      - water
+    water:
+      max_particles: 9000
+    basin:
+      center:
+      - -0.55
+      - 3.2
+      floor_z: 0.5950000000000001
+      water_depth: 0.1
+      inner:
+      - 0.12
+      - 0.11
+      - 0.12
+      a2_stand:
+      - -0.55
+      - 2.56
+      - 1.5707963267948966
+    cup:
+      center:
+      - 2.37954400971941
+      - 0.385500984851842
+      rim_above_table: 0.075
+    success:
+      min_deliver_ml: 20.0
+      max_spill_ml: 15.0
+      min_carry_frac: 0.5
+      max_base_speed_at_pour: 0.05
+    tool:
+      category: ladle
+      asset: Ladle
+      plate_z: 0.7400000000000001
+    view:
+      eye:
+      - 2.9299999999999997
+      - -0.15000000000000002
+      - 0.9800000000000001
+      target:
+      - 2.33
+      - 0.4
+      - 0.68
+    dr:
+      seed: 1051
+      spawn_dxy:
+      - -0.094
+      - 0.179
+      friction_scale:
+        basin_1: 1.069
+        cup_1: 1.001
+        ladle_1: 0.942
+        rack_a0_1: 0.996
+        table_a_1: 1.036
+        table_b_1: 0.917
+      moved:
+        ladle_1:
+        - -0.0065
+        - -0.0019
+        - 1.63
+        cup_1:
+        - -0.0005
+        - -0.0145
+      light_scale: 0.903
+collect:
+  command:
+    Ladle:
+      stage_retries: 2
+      robot_id: 0
+      init_limit: 30
+      max_attempt: 1
+      completion_timeout_steps: 3600
+      pre_back: 0.12
+      lift: 0.1
+      carry:
+        lateral: 0.5
+        forward: 0.0
+        z: 0.88
+      carry_b:
+        lateral: 0.5
+        forward: 0.0
+        z: 0.88
+      dip:
+        above: 0.12
+        clear_bottom: 0.006
+        rim_under: -0.011
+        tilt_deg: 20.0
+        fill_ticks: 60
+        dwell_ticks: 90
+        rise: 0.12
+        rise_legs:
+        - 0.045
+        - 0.12
+      pour:
+        clearance: 0.06
+        aim: -0.04
+        pre_pitch_deg: 10.0
+        pre_pitch_variants:
+        - 0.0
+        - 5.0
+        - -5.0
+        pitch_deg:
+        - 70.0
+        - 100.0
+        lip_drift: 0.03
+        reach_margin: 0.015
+        hold_ticks: 240
+        stop_ticks: 90
+        drain:
+          pitch_deg: 85.0
+          aim: 0.0
+          hold_ticks: 90
+        mode: roll
+        roll_sign: -1.0
+      modes:
+        pre_grasp: -1
+        grasp: 4
+        lift: 4
+        carry: -1
+        pre_dip: -1
+        dip: 4
+        level: 4
+        trim: 4
+        rise: 4
+        pre_pour: 4
+        tilt: 4
+        retreat: 4
+  global_planner:
+    NavTo:
+      use_navmesh: true
+      use_absolute: true
+      translation_threshold: 0.2
+      rotation_threshold: 0.1
+      num_path_segments: 30
+      start_forward_offset: -0.25
+      visualize_path: false
+      carry_arm: true
+    NavToTrim:
+      use_navmesh: false
+      carry_arm: true
+      visualize_path: false
+      trim_pos_threshold: 0.01
+      trim_yaw_threshold: 0.015
+      max_steps: 1500
+    MobileMoveL:
+      translation_threshold: 0.006
+      rotation_threshold: 0.2
+      stall_release_ticks: 100
+      stall_release_factor: 5.0
+      motiongen_distance_threshold: 0.05
+      timeout_steps: 3000
+      timeout_done_tolerance: 0.06
+      debug: false
+      debug_viz: false
+      debug_sphere: false
+      reactive: false
+      base_pos_threshold: 0.12
+      base_rot_threshold: 0.5
+      eef_pos_threshold: 0.03
+      eef_rot_threshold: 0.3
+      waypoint_max_steps: 8
+      interp_steps: 480
+      interp_validate_target: true
+      stall_release_final_factor: 10.0
+    ParallelGripper:
+      gripper_threshold: 0.0005
+      timeout_steps: 60
+  atomic_skill:
+    NavToPose:
+      robot_id: 0
+      position_threshold: 0.2
+      angle_threshold: 0.3
+      trim: false
+    Move:
+      robot_id: 0
+      hand_id: 0
+      arm_planner: MobileMoveL
+      hand_planner: ParallelGripper
+      ramp_steps: 0
+      hold_steps: 60
+      open_value: 0.0
+      close_value: 1.0
+  auto_collect:
+    task_type: ladle
+    max_trajectories: 1
+  record:
+    output_dir: /mnt/scratch/xc536_atomic/n011_go2_off_1051_r1/out
+    formats:
+    - lerobot_v21
+    - sim_info
+    clear_buffer_on_failure: true
+    lerobot:
+      subsample_every: 2
+visual_dr:
+  keep:
+  - Water
diff --git a/N011/go2_arm/dr_off/seed_1051/ladle/000/completed/0.json b/N011/go2_arm/dr_off/seed_1051/ladle/000/completed/0.json
new file mode 100644
index 0000000000000000000000000000000000000000..7ce6876edc0957a9ea82394c77092d7ccdaaeef6
--- /dev/null
+++ b/N011/go2_arm/dr_off/seed_1051/ladle/000/completed/0.json
@@ -0,0 +1 @@
+{"run_id": "ladle/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null}
\ No newline at end of file
diff --git a/N011/go2_arm/dr_off/seed_1051/ladle/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N011/go2_arm/dr_off/seed_1051/ladle/000/lerobot_v21/data/chunk-000/episode_000000.parquet
new file mode 100644
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--- /dev/null
+++ b/N011/go2_arm/dr_off/seed_1051/ladle/000/lerobot_v21/data/chunk-000/episode_000000.parquet
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+version https://git-lfs.github.com/spec/v1
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+size 637113638
diff --git a/N011/go2_arm/dr_off/seed_1051/ladle/000/lerobot_v21/meta/episodes.jsonl b/N011/go2_arm/dr_off/seed_1051/ladle/000/lerobot_v21/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..cada9612d45e2d594b8c7b51811c6b46d076d196
--- /dev/null
+++ b/N011/go2_arm/dr_off/seed_1051/ladle/000/lerobot_v21/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup."], "length": 6450, "magicsim/control_steps": 12899, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown rack a0. There are a large gray table a, a large gray table b, a medium ladle, a large brown rack a0, a medium basin and a small cup. The gray table a is to the right of the brown rack a0. The gray table b is to the right of the cup. The ladle is on top of the brown rack a0. The ladle is to the right of the brown rack a0. The brown rack a0 is to the left of the ladle. The basin is on top of the gray table a. The basin is to the right of the gray table a. The cup is on top of the gray table b. The cup is to the left of the gray table b. The scene is lit by a cool light from the front. The scene is viewed from front, at table height."}
diff --git a/N011/go2_arm/dr_off/seed_1051/ladle/000/lerobot_v21/meta/episodes_stats.jsonl b/N011/go2_arm/dr_off/seed_1051/ladle/000/lerobot_v21/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8119a94c6e1e82c4aea0853c3ee01de964b76392
--- /dev/null
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diff --git a/N011/go2_arm/dr_off/seed_1051/ladle/000/lerobot_v21/meta/extra/episode_000000.json b/N011/go2_arm/dr_off/seed_1051/ladle/000/lerobot_v21/meta/extra/episode_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..9de73cff815fd45be981690fcf26ffde05b9f388
--- /dev/null
+++ b/N011/go2_arm/dr_off/seed_1051/ladle/000/lerobot_v21/meta/extra/episode_000000.json
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+       -4.274358644806853e-15,
+       0.03749999357385492
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+     }
+    }
+   ],
+   "relations": [
+    {
+     "subject": "table_a_1",
+     "relation": "right_of",
+     "object": "rack_a0_1"
+    },
+    {
+     "subject": "table_b_1",
+     "relation": "right_of",
+     "object": "cup_1"
+    },
+    {
+     "subject": "ladle_1",
+     "relation": "on_top_of",
+     "object": "rack_a0_1"
+    },
+    {
+     "subject": "ladle_1",
+     "relation": "right_of",
+     "object": "rack_a0_1"
+    },
+    {
+     "subject": "rack_a0_1",
+     "relation": "left_of",
+     "object": "ladle_1"
+    },
+    {
+     "subject": "basin_1",
+     "relation": "on_top_of",
+     "object": "table_a_1"
+    },
+    {
+     "subject": "basin_1",
+     "relation": "right_of",
+     "object": "table_a_1"
+    },
+    {
+     "subject": "cup_1",
+     "relation": "on_top_of",
+     "object": "table_b_1"
+    },
+    {
+     "subject": "cup_1",
+     "relation": "left_of",
+     "object": "table_b_1"
+    }
+   ],
+   "cameras": [
+    {
+     "name": "head",
+     "intrinsics": {
+      "K": [
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+       [
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+      "fov_h_deg": 55.53991912549515,
+      "resolution": [
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+       480
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+     "pos_robot": [
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+      -0.32813060467650773,
+      -0.2988816345875872
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+     "viewpoint": "front, at table height",
+     "extrinsics": {
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+    },
+    {
+     "name": "wrist",
+     "intrinsics": {
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+       [
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+      "fov_h_deg": 54.807019583348044,
+      "resolution": [
+       640,
+       480
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+     },
+     "pos_robot": [
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+      -0.14826809664772378,
+      -0.34336309793141756
+     ],
+     "viewpoint": "front, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        0.017356943317221596,
+        -0.9998337334638687,
+        0.005589449560045617
+       ],
+       [
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+        -0.014355819960515381,
+        0.34563246061317376
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+       [
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+        -0.011243480820582297,
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+      ],
+      "t": [
+       0.006333551580298355,
+       -0.08611861262827436,
+       0.017148138726427706
+      ]
+     }
+    }
+   ],
+   "robots": [
+    {
+     "name": "Go2Plus",
+     "model": "go2plus",
+     "type": "mobilemanip",
+     "noun": "Unitree Go2 EDU quadruped with a Piper arm",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
+       -3.093526604384227,
+       -1.6214422375036506,
+       0.45
+      ],
+      "ori": [
+       0.9659258127212524,
+       0.0,
+       0.0,
+       0.258819043636322
+      ]
+     },
+     "facing_yaw_deg": 29.99999946747904,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [
+    {
+     "name": "light_1",
+     "kind": "light",
+     "type": "dome",
+     "pose": {
+      "pos": [
+       0.0,
+       0.0,
+       0.0
+      ],
+      "ori": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     },
+     "role": "ambient",
+     "intensity": 813.1046276473418,
+     "brightness": "dim",
+     "color_temperature": 6500.0,
+     "warmth": "cool",
+     "color": "white",
+     "direction": "from the front"
+    }
+   ],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1000.0,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown rack a0. There are a large gray table a, a large gray table b, a medium ladle, a large brown rack a0, a medium basin and a small cup. The gray table a is to the right of the brown rack a0. The gray table b is to the right of the cup. The ladle is on top of the brown rack a0. The ladle is to the right of the brown rack a0. The brown rack a0 is to the left of the ladle. The basin is on top of the gray table a. The basin is to the right of the gray table a. The cup is on top of the gray table b. The cup is to the left of the gray table b. The scene is lit by a cool light from the front. The scene is viewed from front, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                      [tab[cup]\n\n [t[basin]\n[rack a0]\n\n\n\n\n                      [robot]"
+  },
+  "task": {
+   "task_type": "Ladle",
+   "instruction": "Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Ladle the 1.5707963267948966.",
+   "task_id": "N011",
+   "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
+}
\ No newline at end of file
diff --git a/N011/go2_arm/dr_off/seed_1051/ladle/000/lerobot_v21/meta/info.json b/N011/go2_arm/dr_off/seed_1051/ladle/000/lerobot_v21/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..814d647ff1a025e37b933ce5e8305f4cb3b54884
--- /dev/null
+++ b/N011/go2_arm/dr_off/seed_1051/ladle/000/lerobot_v21/meta/info.json
@@ -0,0 +1,24578 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "Go2PlusCfg",
+    "total_episodes": 1,
+    "total_frames": 6450,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "base_action_0",
+                "base_action_1",
+                "base_action_2",
+                "base_action_3",
+                "eef0.pos_x",
+                "eef0.pos_y",
+                "eef0.pos_z",
+                "eef0.quat_w",
+                "eef0.quat_x",
+                "eef0.quat_y",
+                "eef0.quat_z",
+                "gripper"
+            ]
+        },
+        "action_is_hold": {
+            "dtype": "bool",
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+                12
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
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+                26
+            ],
+            "names": [
+                "joint_0",
+                "joint_1",
+                "joint_2",
+                "joint_3",
+                "joint_4",
+                "joint_5",
+                "joint_6",
+                "joint_7",
+                "joint_8",
+                "joint_9",
+                "joint_10",
+                "joint_11",
+                "joint_12",
+                "joint_13",
+                "joint_14",
+                "joint_15",
+                "joint_16",
+                "joint_17",
+                "joint_18",
+                "joint_19",
+                "joint_20",
+                "joint_21",
+                "joint_22",
+                "joint_23",
+                "gripper_0",
+                "gripper_1"
+            ]
+        },
+        "observation.joint_vel": {
+            "dtype": "float32",
+            "shape": [
+                20
+            ],
+            "names": [
+                "go2_FL_hip_joint",
+                "go2_FR_hip_joint",
+                "go2_RL_hip_joint",
+                "go2_RR_hip_joint",
+                "piper_joint1",
+                "go2_FL_thigh_joint",
+                "go2_FR_thigh_joint",
+                "go2_RL_thigh_joint",
+                "go2_RR_thigh_joint",
+                "piper_joint2",
+                "go2_FL_calf_joint",
+                "go2_FR_calf_joint",
+                "go2_RL_calf_joint",
+                "go2_RR_calf_joint",
+                "piper_joint3",
+                "piper_joint4",
+                "piper_joint5",
+                "piper_joint6",
+                "piper_joint7",
+                "piper_joint8"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": null
+        },
+        "observation.environment_state": {
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+                24312
+            ],
+            "names": [
+                "object_pose.basin.0",
+                "object_pose.basin.1",
+                "object_pose.basin.2",
+                "object_pose.basin.3",
+                "object_pose.basin.4",
+                "object_pose.basin.5",
+                "object_pose.basin.6",
+                "object_pose.cup.0",
+                "object_pose.cup.1",
+                "object_pose.cup.2",
+                "object_pose.cup.3",
+                "object_pose.cup.4",
+                "object_pose.cup.5",
+                "object_pose.cup.6",
+                "object_pose.ladle.0",
+                "object_pose.ladle.1",
+                "object_pose.ladle.2",
+                "object_pose.ladle.3",
+                "object_pose.ladle.4",
+                "object_pose.ladle.5",
+                "object_pose.ladle.6",
+                "object_pose.rack_a0.0",
+                "object_pose.rack_a0.1",
+                "object_pose.rack_a0.2",
+                "object_pose.rack_a0.3",
+                "object_pose.rack_a0.4",
+                "object_pose.rack_a0.5",
+                "object_pose.rack_a0.6",
+                "object_pose.table_a.0",
+                "object_pose.table_a.1",
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+                "has_audio": false
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/N011/go2_arm/dr_off/seed_1051/ladle/000/lerobot_v21/meta/magicsim_manifest.json b/N011/go2_arm/dr_off/seed_1051/ladle/000/lerobot_v21/meta/magicsim_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..79352b2214e19172b398c2d954c1bb9445a3004d
--- /dev/null
+++ b/N011/go2_arm/dr_off/seed_1051/ladle/000/lerobot_v21/meta/magicsim_manifest.json
@@ -0,0 +1,290 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 00:10:17"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "Go2Plus",
+                "cfg": "Go2PlusCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
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+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
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+                    "piper_joint8"
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+        ]
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+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
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+                    "base_action_3"
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+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
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+            "frame_index",
+            "index",
+            "narration",
+            "next.done",
+            "next.truncated",
+            "observation.eef_pose",
+            "observation.environment_state",
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+            "observation.images.wrist",
+            "observation.joint_vel",
+            "observation.state",
+            "sim_step_idx",
+            "task_index",
+            "timestamp"
+        ]
+    },
+    "generated_run": {
+        "run_id": "ladle/000",
+        "task_type": "Ladle"
+    }
+}
\ No newline at end of file
diff --git a/N011/go2_arm/dr_off/seed_1051/ladle/000/lerobot_v21/meta/stats.json b/N011/go2_arm/dr_off/seed_1051/ladle/000/lerobot_v21/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..083dd8b7480e6cc6e4c6e2c14aeb2f4898d52031
--- /dev/null
+++ b/N011/go2_arm/dr_off/seed_1051/ladle/000/lerobot_v21/meta/stats.json
@@ -0,0 +1,103417 @@
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+}
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diff --git a/N011/go2_arm/dr_off/seed_1051/ladle/000/lerobot_v21/meta/tasks.jsonl b/N011/go2_arm/dr_off/seed_1051/ladle/000/lerobot_v21/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..1a5f0379e3fd3e6583d378ec90c018bfc99fa9dd
--- /dev/null
+++ b/N011/go2_arm/dr_off/seed_1051/ladle/000/lerobot_v21/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup."}
diff --git a/N011/go2_arm/dr_off/seed_1051/ladle/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N011/go2_arm/dr_off/seed_1051/ladle/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9ef64d2f7428c5f478c992f55fe80b3e028804eb
--- /dev/null
+++ b/N011/go2_arm/dr_off/seed_1051/ladle/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b37753fb3c76b30fd6d3f5d78de9117bb8cad857a4360621bdf67f2301ef370
+size 154803946
diff --git a/N011/go2_arm/dr_off/seed_1051/ladle/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N011/go2_arm/dr_off/seed_1051/ladle/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4
new file mode 100644
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+++ b/N011/go2_arm/dr_off/seed_1051/ladle/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4
@@ -0,0 +1,3 @@
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diff --git a/N011/go2_arm/dr_off/seed_1051/ladle/000/run_meta.json b/N011/go2_arm/dr_off/seed_1051/ladle/000/run_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..995d9a6d8271dc8e9a6e96e7d86d720cb94fa537
--- /dev/null
+++ b/N011/go2_arm/dr_off/seed_1051/ladle/000/run_meta.json
@@ -0,0 +1,1064 @@
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+                                0.4
+                            ]
+                        },
+                        "B": {
+                            "center": [
+                                2.6,
+                                0.4
+                            ],
+                            "size": [
+                                0.7,
+                                1.0
+                            ],
+                            "top": 0.5800000000000001,
+                            "color": [
+                                0.35,
+                                0.37,
+                                0.4
+                            ]
+                        }
+                    },
+                    "stations": {
+                        "A": {
+                            "table": "A",
+                            "work_point": [
+                                -1.35,
+                                3.12
+                            ],
+                            "arm_dir": [
+                                0.0,
+                                1.0
+                            ],
+                            "reach": 0.54,
+                            "fwd": 0.0,
+                            "stand": [
+                                -1.35,
+                                2.58,
+                                1.5707963267948966
+                            ]
+                        },
+                        "B": {
+                            "table": "B",
+                            "work_point": [
+                                2.38,
+                                0.4
+                            ],
+                            "arm_dir": [
+                                1.0,
+                                0.0
+                            ],
+                            "reach": 0.54,
+                            "fwd": 0.0,
+                            "stand": [
+                                1.8399999999999999,
+                                0.4,
+                                0.0
+                            ]
+                        }
+                    }
+                },
+                "hold_ticks": 40,
+                "grace_ticks": 400,
+                "water_settle_ticks": 150,
+                "object_settle_ticks": 60,
+                "planning": {
+                    "avoid": [
+                        "dynamic"
+                    ],
+                    "ignore": [
+                        "ladle",
+                        "water"
+                    ]
+                },
+                "water": {
+                    "max_particles": 9000
+                },
+                "basin": {
+                    "center": [
+                        -0.55,
+                        3.2
+                    ],
+                    "floor_z": 0.5950000000000001,
+                    "water_depth": 0.1,
+                    "inner": [
+                        0.12,
+                        0.11,
+                        0.12
+                    ],
+                    "a2_stand": [
+                        -0.55,
+                        2.56,
+                        1.5707963267948966
+                    ]
+                },
+                "cup": {
+                    "center": [
+                        2.37954400971941,
+                        0.385500984851842
+                    ],
+                    "rim_above_table": 0.075
+                },
+                "success": {
+                    "min_deliver_ml": 20.0,
+                    "max_spill_ml": 15.0,
+                    "min_carry_frac": 0.5,
+                    "max_base_speed_at_pour": 0.05
+                },
+                "tool": {
+                    "category": "ladle",
+                    "asset": "Ladle",
+                    "plate_z": 0.7400000000000001
+                },
+                "view": {
+                    "eye": [
+                        2.9299999999999997,
+                        -0.15000000000000002,
+                        0.9800000000000001
+                    ],
+                    "target": [
+                        2.33,
+                        0.4,
+                        0.68
+                    ]
+                },
+                "dr": {
+                    "seed": 1051,
+                    "spawn_dxy": [
+                        -0.094,
+                        0.179
+                    ],
+                    "friction_scale": {
+                        "basin_1": 1.069,
+                        "cup_1": 1.001,
+                        "ladle_1": 0.942,
+                        "rack_a0_1": 0.996,
+                        "table_a_1": 1.036,
+                        "table_b_1": 0.917
+                    },
+                    "moved": {
+                        "ladle_1": [
+                            -0.0065,
+                            -0.0019,
+                            1.63
+                        ],
+                        "cup_1": [
+                            -0.0005,
+                            -0.0145
+                        ]
+                    },
+                    "light_scale": 0.903
+                }
+            },
+            "command": {
+                "Ladle": {
+                    "stage_retries": 2,
+                    "robot_id": 0,
+                    "init_limit": 30,
+                    "max_attempt": 1,
+                    "completion_timeout_steps": 3600,
+                    "pre_back": 0.12,
+                    "lift": 0.1,
+                    "carry": {
+                        "lateral": 0.5,
+                        "forward": 0.0,
+                        "z": 0.88
+                    },
+                    "carry_b": {
+                        "lateral": 0.5,
+                        "forward": 0.0,
+                        "z": 0.88
+                    },
+                    "dip": {
+                        "above": 0.12,
+                        "clear_bottom": 0.006,
+                        "rim_under": -0.011,
+                        "tilt_deg": 20.0,
+                        "fill_ticks": 60,
+                        "dwell_ticks": 90,
+                        "rise": 0.12,
+                        "rise_legs": [
+                            0.045,
+                            0.12
+                        ]
+                    },
+                    "pour": {
+                        "clearance": 0.06,
+                        "aim": -0.04,
+                        "pre_pitch_deg": 10.0,
+                        "pre_pitch_variants": [
+                            0.0,
+                            5.0,
+                            -5.0
+                        ],
+                        "pitch_deg": [
+                            70.0,
+                            100.0
+                        ],
+                        "lip_drift": 0.03,
+                        "reach_margin": 0.015,
+                        "hold_ticks": 240,
+                        "stop_ticks": 90,
+                        "drain": {
+                            "pitch_deg": 85.0,
+                            "aim": 0.0,
+                            "hold_ticks": 90
+                        },
+                        "mode": "roll",
+                        "roll_sign": -1.0
+                    },
+                    "modes": {
+                        "pre_grasp": -1,
+                        "grasp": 4,
+                        "lift": 4,
+                        "carry": -1,
+                        "pre_dip": -1,
+                        "dip": 4,
+                        "level": 4,
+                        "trim": 4,
+                        "rise": 4,
+                        "pre_pour": 4,
+                        "tilt": 4,
+                        "retreat": 4
+                    }
+                }
+            }
+        },
+        "collect": {
+            "command": {
+                "Ladle": {
+                    "stage_retries": 2,
+                    "robot_id": 0,
+                    "init_limit": 30,
+                    "max_attempt": 1,
+                    "completion_timeout_steps": 3600,
+                    "pre_back": 0.12,
+                    "lift": 0.1,
+                    "carry": {
+                        "lateral": 0.5,
+                        "forward": 0.0,
+                        "z": 0.88
+                    },
+                    "carry_b": {
+                        "lateral": 0.5,
+                        "forward": 0.0,
+                        "z": 0.88
+                    },
+                    "dip": {
+                        "above": 0.12,
+                        "clear_bottom": 0.006,
+                        "rim_under": -0.011,
+                        "tilt_deg": 20.0,
+                        "fill_ticks": 60,
+                        "dwell_ticks": 90,
+                        "rise": 0.12,
+                        "rise_legs": [
+                            0.045,
+                            0.12
+                        ]
+                    },
+                    "pour": {
+                        "clearance": 0.06,
+                        "aim": -0.04,
+                        "pre_pitch_deg": 10.0,
+                        "pre_pitch_variants": [
+                            0.0,
+                            5.0,
+                            -5.0
+                        ],
+                        "pitch_deg": [
+                            70.0,
+                            100.0
+                        ],
+                        "lip_drift": 0.03,
+                        "reach_margin": 0.015,
+                        "hold_ticks": 240,
+                        "stop_ticks": 90,
+                        "drain": {
+                            "pitch_deg": 85.0,
+                            "aim": 0.0,
+                            "hold_ticks": 90
+                        },
+                        "mode": "roll",
+                        "roll_sign": -1.0
+                    },
+                    "modes": {
+                        "pre_grasp": -1,
+                        "grasp": 4,
+                        "lift": 4,
+                        "carry": -1,
+                        "pre_dip": -1,
+                        "dip": 4,
+                        "level": 4,
+                        "trim": 4,
+                        "rise": 4,
+                        "pre_pour": 4,
+                        "tilt": 4,
+                        "retreat": 4
+                    }
+                }
+            },
+            "global_planner": {
+                "NavTo": {
+                    "use_navmesh": true,
+                    "use_absolute": true,
+                    "translation_threshold": 0.2,
+                    "rotation_threshold": 0.1,
+                    "num_path_segments": 30,
+                    "start_forward_offset": -0.25,
+                    "visualize_path": false,
+                    "carry_arm": true
+                },
+                "NavToTrim": {
+                    "use_navmesh": false,
+                    "carry_arm": true,
+                    "visualize_path": false,
+                    "trim_pos_threshold": 0.01,
+                    "trim_yaw_threshold": 0.015,
+                    "max_steps": 1500
+                },
+                "MobileMoveL": {
+                    "translation_threshold": 0.006,
+                    "rotation_threshold": 0.2,
+                    "stall_release_ticks": 100,
+                    "stall_release_factor": 5.0,
+                    "motiongen_distance_threshold": 0.05,
+                    "timeout_steps": 3000,
+                    "timeout_done_tolerance": 0.06,
+                    "debug": false,
+                    "debug_viz": false,
+                    "debug_sphere": false,
+                    "reactive": false,
+                    "base_pos_threshold": 0.12,
+                    "base_rot_threshold": 0.5,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.3,
+                    "waypoint_max_steps": 8,
+                    "interp_steps": 480,
+                    "interp_validate_target": true,
+                    "stall_release_final_factor": 10.0
+                },
+                "ParallelGripper": {
+                    "gripper_threshold": 0.0005,
+                    "timeout_steps": 60
+                }
+            },
+            "atomic_skill": {
+                "NavToPose": {
+                    "robot_id": 0,
+                    "position_threshold": 0.2,
+                    "angle_threshold": 0.3,
+                    "trim": false
+                },
+                "Move": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "arm_planner": "MobileMoveL",
+                    "hand_planner": "ParallelGripper",
+                    "ramp_steps": 0,
+                    "hold_steps": 60,
+                    "open_value": 0.0,
+                    "close_value": 1.0
+                }
+            },
+            "auto_collect": {
+                "task_type": "ladle",
+                "max_trajectories": 1
+            },
+            "record": {
+                "output_dir": "/mnt/scratch/xc536_atomic/n011_go2_off_1051_r1/out",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            }
+        },
+        "visual_dr": {
+            "keep": [
+                "Water"
+            ]
+        }
+    },
+    "git_sha": null,
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}
\ No newline at end of file
diff --git a/N011/go2_arm/dr_off/seed_1051/ladle/000/sim_info/0/actions.npz b/N011/go2_arm/dr_off/seed_1051/ladle/000/sim_info/0/actions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..02e4e0de82d852cb0ce58214b38f61f224fab5bd
--- /dev/null
+++ b/N011/go2_arm/dr_off/seed_1051/ladle/000/sim_info/0/actions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d6eb1b94db5e2ad9caec7d6e454ce7140da12a8ac59dcb7be3d6c4e8d35c299
+size 2333347
diff --git a/N011/go2_arm/dr_off/seed_1051/ladle/000/sim_info/0/device_commands.jsonl b/N011/go2_arm/dr_off/seed_1051/ladle/000/sim_info/0/device_commands.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/N011/go2_arm/dr_off/seed_1051/ladle/000/sim_info/0/device_events.jsonl b/N011/go2_arm/dr_off/seed_1051/ladle/000/sim_info/0/device_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/N011/go2_arm/dr_off/seed_1051/ladle/000/sim_info/0/scene_snapshot.json b/N011/go2_arm/dr_off/seed_1051/ladle/000/sim_info/0/scene_snapshot.json
new file mode 100644
index 0000000000000000000000000000000000000000..ab4b0e3f3d76397380d220b74a3c8555a03f7e12
--- /dev/null
+++ b/N011/go2_arm/dr_off/seed_1051/ladle/000/sim_info/0/scene_snapshot.json
@@ -0,0 +1,105676 @@
+{
+    "trajectory_id": 0,
+    "env_id": 0,
+    "run_id": "ladle/000",
+    "task_type": "Ladle",
+    "success": true,
+    "timing": {
+        "fps": 50.0,
+        "sim_dt": 0.005,
+        "decimation": 4
+    },
+    "restore_interface": {
+        "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
+    },
+    "snapshot": {
+        "env_id": 0,
+        "scene": {
+            "objects": [
+                {
+                    "table_a": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    -1.0,
+                                    3.2,
+                                    0.30500000000000005
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    1.5,
+                                    0.6,
+                                    0.55
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.35,
+                                        0.37,
+                                        0.4
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 0.8286518549162509,
+                                        "dynamic_friction": 0.6214888911871881,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "table_b": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    2.6,
+                                    0.4,
+                                    0.30500000000000005
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.7,
+                                    1.0,
+                                    0.55
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.35,
+                                        0.37,
+                                        0.4
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 0.7338516609153897,
+                                        "dynamic_friction": 0.5503887456865422,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "ladle": [
+                        {
+                            "asset": "/mnt/scratch/xc536_atomic_local/repo_b3820fd82/Assets/Object/MMB/Ladle/Object.usda",
+                            "pose": {
+                                "pos": [
+                                    -1.3564611673355103,
+                                    3.1181435585021973,
+                                    0.7400001287460327
+                                ],
+                                "ori": [
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+                                    8.881092071533203e-06,
+                                    7.525086402893066e-06,
+                                    0.7171044945716858
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "rigid",
+                                    "mass": 0.04735565423925975,
+                                    "physics_material": {
+                                        "static_friction": 1.5064827169589503,
+                                        "dynamic_friction": 1.3181723773390814,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "linear_velocity": [
+                                    -0.00015205011004582047,
+                                    2.335814315301832e-06,
+                                    -0.0003307098522782326
+                                ],
+                                "angular_velocity": [
+                                    0.0005431629251688719,
+                                    -0.016943342983722687,
+                                    -0.009691590443253517
+                                ]
+                            }
+                        }
+                    ],
+                    "rack_a0": [
+                        {
+                            "asset": "Cube",
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+                                "pos": [
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+                                    3.205,
+                                    0.655
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.1,
+                                    0.06999999999999999,
+                                    0.15000000000000002
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.45,
+                                        0.3,
+                                        0.18
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 0.7964129067091601,
+                                        "dynamic_friction": 0.59730968003187,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "basin": [
+                        {
+                            "asset": "/mnt/scratch/xc536_atomic_local/repo_b3820fd82/Assets/Object/MMB/Basin/Object.usda",
+                            "pose": {
+                                "pos": [
+                                    -0.55,
+                                    3.2,
+                                    0.5950000000000001
+                                ],
+                                "ori": [
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+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 0.8555687465305941,
+                                        "dynamic_friction": 0.6416765598979455,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "cup": [
+                        {
+                            "asset": "/mnt/scratch/xc536_atomic_local/repo_b3820fd82/Assets/Object/MMB/ReceivingCup/Object.usda",
+                            "pose": {
+                                "pos": [
+                                    2.3795440196990967,
+                                    0.38550087809562683,
+                                    0.5799999833106995
+                                ],
+                                "ori": [
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+                                    5.86628857490723e-07
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "rigid",
+                                    "mass": 0.20385730642500885,
+                                    "physics_material": {
+                                        "static_friction": 0.8008363618713675,
+                                        "dynamic_friction": 0.6006272714035256,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "linear_velocity": [
+                                    -7.403880590572953e-05,
+                                    6.899792788317427e-05,
+                                    -5.27388237969717e-06
+                                ],
+                                "angular_velocity": [
+                                    0.0014668781077489257,
+                                    0.0010272643994539976,
+                                    -0.0004115489136893302
+                                ]
+                            }
+                        }
+                    ]
+                }
+            ],
+            "hooks": {
+                "water": {
+                    "version": 2,
+                    "envs": {
+                        "0": {
+                            "book": {
+                                "t_birth": [
+                                    1.2599999999999951,
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diff --git a/N011/go2_arm/dr_off/seed_1051/ladle/000/sim_info/0/sim_states.npz b/N011/go2_arm/dr_off/seed_1051/ladle/000/sim_info/0/sim_states.npz
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diff --git a/N011/go2_arm/dr_off/seed_1051/ladle/000/sim_info/magicsim_manifest.json b/N011/go2_arm/dr_off/seed_1051/ladle/000/sim_info/magicsim_manifest.json
new file mode 100644
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--- /dev/null
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+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
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\ No newline at end of file
diff --git a/N011/go2_arm/dr_off/seed_1051/report.json b/N011/go2_arm/dr_off/seed_1051/report.json
new file mode 100644
index 0000000000000000000000000000000000000000..6bcb470109d83403bdc451d9a7ee3d688c6d2746
--- /dev/null
+++ b/N011/go2_arm/dr_off/seed_1051/report.json
@@ -0,0 +1,28195 @@
+{
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+ "episodes": [
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+   "primary_category": "C5",
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+   "execution_mode": "scripted_expert_chain: Task env -> Command -> AtomicSkill -> GlobalPlanner -> cuRobo; base by NavMesh + DWB (NavToPose), arm by MobileMoveL, hand by ParallelGripper",
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+       -59.0,
+       181.0
+      ],
+      "wl_dpos": [
+       0.0,
+       0.0,
+       0.0
+      ],
+      "cav_wl": 0
+     },
+     {
+      "tick": 12975,
+      "mouth_z": 0.7443,
+      "surface_z": 0.6643,
+      "tilt_deg": 14.8,
+      "pitch_down_deg": 8.6,
+      "in_bowl": 0,
+      "in_wall": 0,
+      "under_base": 0,
+      "over_rim": 0,
+      "ladle_ml": 0.0,
+      "tool_xy": [
+       2.206,
+       0.351
+      ],
+      "hand_pitch_down_deg": -3.7,
+      "slip_deg": 45.3,
+      "slip_rv_deg": [
+       -0.7,
+       -45.3,
+       1.3
+      ],
+      "slip_mm": 20.5,
+      "base": [
+       1.766,
+       0.978,
+       -1.381
+      ],
+      "hand_err": {
+       "step": "retreat",
+       "mm": [
+        -8.3,
+        -23.5,
+        -21.8
+       ],
+       "deg": 12.7
+      },
+      "lip_cup_mm": [
+       -22.0,
+       -78.0,
+       161.0
+      ],
+      "wl_dpos": [
+       0.0,
+       0.0,
+       0.0
+      ],
+      "cav_wl": 0
+     },
+     {
+      "tick": 13000,
+      "mouth_z": 0.7559,
+      "surface_z": 0.6648,
+      "tilt_deg": 14.7,
+      "pitch_down_deg": 7.4,
+      "in_bowl": 0,
+      "in_wall": 0,
+      "under_base": 0,
+      "over_rim": 0,
+      "ladle_ml": 0.0,
+      "tool_xy": [
+       2.183,
+       0.342
+      ],
+      "hand_pitch_down_deg": -5.1,
+      "slip_deg": 45.3,
+      "slip_rv_deg": [
+       -0.7,
+       -45.3,
+       1.3
+      ],
+      "slip_mm": 20.5,
+      "base": [
+       1.819,
+       1.01,
+       -1.499
+      ],
+      "hand_err": {
+       "step": "retreat",
+       "mm": [
+        -31.7,
+        -29.9,
+        -14.4
+       ],
+       "deg": 17.5
+      },
+      "lip_cup_mm": [
+       -50.0,
+       -107.0,
+       173.0
+      ],
+      "wl_dpos": [
+       0.0,
+       0.0,
+       0.0
+      ],
+      "cav_wl": 0
+     },
+     {
+      "tick": 13025,
+      "mouth_z": 0.7486,
+      "surface_z": 0.6653,
+      "tilt_deg": 15.6,
+      "pitch_down_deg": 8.6,
+      "in_bowl": 0,
+      "in_wall": 0,
+      "under_base": 0,
+      "over_rim": 0,
+      "ladle_ml": 0.0,
+      "tool_xy": [
+       2.166,
+       0.332
+      ],
+      "hand_pitch_down_deg": -4.5,
+      "slip_deg": 45.3,
+      "slip_rv_deg": [
+       -0.7,
+       -45.3,
+       1.3
+      ],
+      "slip_mm": 20.5,
+      "base": [
+       1.861,
+       1.034,
+       -1.6
+      ],
+      "hand_err": {
+       "step": "retreat",
+       "mm": [
+        -48.0,
+        -38.3,
+        -18.1
+       ],
+       "deg": 23.2
+      },
+      "lip_cup_mm": [
+       -77.0,
+       -134.0,
+       165.0
+      ],
+      "wl_dpos": [
+       0.0,
+       0.0,
+       0.0
+      ],
+      "cav_wl": 0
+     },
+     {
+      "tick": 13050,
+      "mouth_z": 0.7585,
+      "surface_z": 0.6643,
+      "tilt_deg": 14.3,
+      "pitch_down_deg": 7.2,
+      "in_bowl": 0,
+      "in_wall": 0,
+      "under_base": 0,
+      "over_rim": 0,
+      "ladle_ml": 0.0,
+      "tool_xy": [
+       2.117,
+       0.316
+      ],
+      "hand_pitch_down_deg": -5.0,
+      "slip_deg": 45.3,
+      "slip_rv_deg": [
+       -0.7,
+       -45.3,
+       1.3
+      ],
+      "slip_mm": 20.5,
+      "base": [
+       1.896,
+       1.045,
+       -1.699
+      ],
+      "hand_err": {
+       "step": "retreat",
+       "mm": [
+        -96.4,
+        -51.8,
+        -12.2
+       ],
+       "deg": 28.2
+      },
+      "lip_cup_mm": [
+       -133.0,
+       -165.0,
+       176.0
+      ],
+      "wl_dpos": [
+       0.0,
+       0.0,
+       0.0
+      ],
+      "cav_wl": 0
+     },
+     {
+      "tick": 13075,
+      "mouth_z": 0.7496,
+      "surface_z": 0.6653,
+      "tilt_deg": 15.6,
+      "pitch_down_deg": 8.6,
+      "in_bowl": 0,
+      "in_wall": 0,
+      "under_base": 0,
+      "over_rim": 0,
+      "ladle_ml": 0.0,
+      "tool_xy": [
+       2.104,
+       0.31
+      ],
+      "hand_pitch_down_deg": -4.5,
+      "slip_deg": 45.3,
+      "slip_rv_deg": [
+       -0.7,
+       -45.3,
+       1.3
+      ],
+      "slip_mm": 20.5,
+      "base": [
+       1.936,
+       1.057,
+       -1.789
+      ],
+      "hand_err": {
+       "step": "retreat",
+       "mm": [
+        -108.7,
+        -56.9,
+        -17.1
+       ],
+       "deg": 33.5
+      },
+      "lip_cup_mm": [
+       -159.0,
+       -184.0,
+       166.0
+      ],
+      "wl_dpos": [
+       0.0,
+       0.0,
+       0.0
+      ],
+      "cav_wl": 0
+     },
+     {
+      "tick": 13100,
+      "mouth_z": 0.7585,
+      "surface_z": 0.6642,
+      "tilt_deg": 14.4,
+      "pitch_down_deg": 7.2,
+      "in_bowl": 0,
+      "in_wall": 0,
+      "under_base": 0,
+      "over_rim": 0,
+      "ladle_ml": 0.0,
+      "tool_xy": [
+       2.051,
+       0.304
+      ],
+      "hand_pitch_down_deg": -5.0,
+      "slip_deg": 45.3,
+      "slip_rv_deg": [
+       -0.7,
+       -45.3,
+       1.3
+      ],
+      "slip_mm": 20.5,
+      "base": [
+       1.974,
+       1.061,
+       -1.891
+      ],
+      "hand_err": {
+       "step": "retreat",
+       "mm": [
+        -160.1,
+        -61.1,
+        -12.1
+       ],
+       "deg": 39.0
+      },
+      "lip_cup_mm": [
+       -221.0,
+       -205.0,
+       176.0
+      ],
+      "wl_dpos": [
+       0.0,
+       0.0,
+       0.0
+      ],
+      "cav_wl": 0
+     },
+     {
+      "tick": 13125,
+      "mouth_z": 0.7496,
+      "surface_z": 0.6653,
+      "tilt_deg": 15.7,
+      "pitch_down_deg": 8.6,
+      "in_bowl": 0,
+      "in_wall": 0,
+      "under_base": 0,
+      "over_rim": 0,
+      "ladle_ml": 0.0,
+      "tool_xy": [
+       2.034,
+       0.299
+      ],
+      "hand_pitch_down_deg": -4.5,
+      "slip_deg": 45.3,
+      "slip_rv_deg": [
+       -0.7,
+       -45.3,
+       1.3
+      ],
+      "slip_mm": 20.5,
+      "base": [
+       2.015,
+       1.064,
+       -1.984
+      ],
+      "hand_err": {
+       "step": "retreat",
+       "mm": [
+        -175.9,
+        -64.1,
+        -17.0
+       ],
+       "deg": 44.4
+      },
+      "lip_cup_mm": [
+       -253.0,
+       -220.0,
+       166.0
+      ],
+      "wl_dpos": [
+       0.0,
+       0.0,
+       0.0
+      ],
+      "cav_wl": 0
+     }
+    ]
+   },
+   "planner_seeds": "lean",
+   "cameras": true,
+   "code_rev": "?",
+   "snapshot": "/mnt/scratch/xc536_atomic/n011_go2_off_1051_r1/out/snap/episode_01_end.png",
+   "snapshot_close": "/mnt/scratch/xc536_atomic/n011_go2_off_1051_r1/out/snap_close/episode_01_end.png"
+  }
+ ],
+ "success": true,
+ "config_dumped": "/mnt/scratch/xc536_atomic/n011_go2_off_1051_r1/out/config.yaml",
+ "collect": {
+  "task": "N011",
+  "robot": "go2_arm",
+  "visual_dr": false,
+  "env": {
+   "MMB_COLLECT": "1",
+   "MMB_TASK_ID": "N011",
+   "MMB_CLEAN_VIEW": "1",
+   "MMB_REAL_ROBOT_LOOK": "1",
+   "MMB_VISUAL_DR": "0"
+  },
+  "cameras": {
+   "head": {
+    "link": "Robot_0/Bodies/go2_base",
+    "pos": [
+     0.332051,
+     0.038027,
+     0.093559
+    ],
+    "ori": [
+     169.9473,
+     -88.6452,
+     81.5985
+    ],
+    "focal_length": 1.8231182098388672,
+    "horizontal_aperture": 1.9199999570846558,
+    "vertical_aperture": 1.4407838582992554
+   },
+   "wrist": {
+    "link": "Robot_0/Bodies/piper_link6",
+    "pos": [
+     -0.074987,
+     0.005289,
+     0.045821
+    ],
+    "ori": [
+     179.3135,
+     -20.212,
+     88.9402
+    ],
+    "focal_length": 1.8517500162124634,
+    "horizontal_aperture": 1.9199999570846558,
+    "vertical_aperture": 1.4393036365509033
+   }
+  },
+  "resolution": [
+   640,
+   480
+  ],
+  "camera_hz": 25,
+  "record": {
+   "formats": [
+    "lerobot_v21",
+    "sim_info"
+   ],
+   "clear_buffer_on_failure": true,
+   "lerobot": {
+    "subsample_every": 2
+   }
+  }
+ },
+ "policy_obs_signature": [
+  "/camera_info[0]/rgb[0]:(480, 640, 4):uint8",
+  "/camera_info[1]/rgb[0]:(480, 640, 4):uint8",
+  "/robot_state[0]/Go2Plus/base_ang_vel:(1, 3):torch.float32",
+  "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32",
+  "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32",
+  "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32",
+  "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32",
+  "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32",
+  "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32",
+  "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32",
+  "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32",
+  "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32",
+  "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32",
+  "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32",
+  "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32"
+ ],
+ "review_cameras": [],
+ "elapsed_s": 4207.6,
+ "full_successes": 1
+}
diff --git a/N011/go2_arm/dr_off/seed_1051/snap/episode_01_end.png b/N011/go2_arm/dr_off/seed_1051/snap/episode_01_end.png
new file mode 100644
index 0000000000000000000000000000000000000000..255dc7cb674fe349648bf8101d4b03df024e9105
--- /dev/null
+++ b/N011/go2_arm/dr_off/seed_1051/snap/episode_01_end.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45aa7aa030b0ca16594b047c71d891a7f5a5a150f59b28905d0a67622e29142f
+size 496453
diff --git a/N011/go2_arm/dr_off/seed_1051/snap_close/episode_01_end.png b/N011/go2_arm/dr_off/seed_1051/snap_close/episode_01_end.png
new file mode 100644
index 0000000000000000000000000000000000000000..8b079e04193911d2fc5333bf20c947d3162a69f1
--- /dev/null
+++ b/N011/go2_arm/dr_off/seed_1051/snap_close/episode_01_end.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b803e61416e5b9302f3f4d23e63ec3a3ad9110f394b90e0d8c21958a5f9b0a25
+size 435978
diff --git a/N015/go2_arm/dr_off/seed_1042/check.json b/N015/go2_arm/dr_off/seed_1042/check.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c98be42d0461f506bbf979a9bff37c28eb72e8b
--- /dev/null
+++ b/N015/go2_arm/dr_off/seed_1042/check.json
@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the rack, pick up the tray with the water in it, carry it to the work table, set it on the holder, and tilt it so the water flows around the barrier into the collecting pocket.'; expected 'Go to the rack, pick up the tray with the water in it, carry it to the work table, set it on the holder, and tilt it so the water flows around the barrier into the collecting pocket.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "3989 rows vs ceil(7977/2) = 3989"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 251..8227, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "97.51 MB, 3989 frames at 25 fps, mean luma 106..138, std 14, new picture 3988x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "3989 vs 3989"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "84.72 MB, 3989 frames at 25 fps, mean luma 91..139, std 56, new picture 3988x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "3989 vs 3989"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "tiltmaze/000/sim_info"
+  }
+ }
+}
\ No newline at end of file
diff --git a/N015/go2_arm/dr_off/seed_1042/check.txt b/N015/go2_arm/dr_off/seed_1042/check.txt
new file mode 100644
index 0000000000000000000000000000000000000000..85b0cf533dafa449cc5a80f9532db973dceb33e6
--- /dev/null
+++ b/N015/go2_arm/dr_off/seed_1042/check.txt
@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n015_go2_off_1042/out  task=N015  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n015_go2_off_1042/out/tiltmaze/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 3989  videos 2  robot_type Go2PlusCfg
+[PASS] codebase v2.1: v2.1
+[PASS] dataset fps = 25: info.fps 25
+(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only)
+[PASS] parquet episodes: 1 files, info.total_episodes=1
+--- episode file episode_000000.parquet: 3989 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']
+[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the rack, pick up the tray with the water in it, carry it to the work table, set it on the holder, and tilt it so the water flows around the barrier into the collecting pocket.'; expected 'Go to the rack, pick up the tray with the water in it, carry it to the work table, set it on the holder, and tilt it so the water flows around the barrier into the collecting pocket.'
+rows 3989 at dataset fps 25 = 159.56 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3989 rows vs ceil(7977/2) = 3989
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 251..8227, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 97.51 MB, 3989 frames at 25 fps, mean luma 106..138, std 14, new picture 3988x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 3989 vs 3989
+[PASS] video observation.images.wrist decodes, 640x480, not black: 84.72 MB, 3989 frames at 25 fps, mean luma 91..139, std 56, new picture 3988x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 3989 vs 3989
+parquet size 41.36 MB
+[PASS] sim_info present: tiltmaze/000/sim_info
+dataset size 224.39 MB; whole cell dir 281.9 MB
+RESULT: ALL PASS
diff --git a/N015/go2_arm/dr_off/seed_1042/config.yaml b/N015/go2_arm/dr_off/seed_1042/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..bd9823727c6ce622eb36d6819782ee81101a8009
--- /dev/null
+++ b/N015/go2_arm/dr_off/seed_1042/config.yaml
@@ -0,0 +1,706 @@
+env_string: TiltMazeEnv-V0
+env:
+  sim:
+    device: cpu
+    use_fabric: false
+    decimation: 4
+    dt: 0.005
+    seed: 1042
+    soft_resets: 1000000
+    scene:
+      num_envs: 1
+      env_spacing: 14
+    render:
+      rendering_mode: performance
+      enable_reflections: false
+      enable_global_illumination: false
+      enable_translucency: false
+      enable_dl_denoiser: false
+  robot:
+    Go2Plus:
+      name: go2plus
+      type: mobilemanip
+      common:
+        pos:
+        - - -3.0046480378621556
+          - -1.5802067809226417
+          - 0.45
+        - - -3.0046480378621556
+          - -1.5802067809226417
+          - 0.45
+        ori:
+        - - 0
+          - 0
+          - 25.000000000000075
+        - - 0
+          - 0
+          - 25.000000000000075
+        initial_joint_pos: null
+      action:
+        base_action: unified
+        arm_action: ik_curobo
+        eef_action: binary
+      reset: default
+      planner:
+        dual_mode: true
+        base_joint_names:
+        - base_x
+        - base_y
+        - base_yaw
+        - base_height
+        ik:
+          type: go2plus
+          enable: true
+          ik_num_instances: 1
+          ik_batch_size: 1
+          ik_num_seeds: 64
+          ik_position_threshold: 0.005
+          ik_rotation_threshold: 0.05
+          microbatch_wait_ms: 20.0
+          relative_to_world_frame: false
+          eef_num: 1
+          debug: false
+          seed_use_live_joint_pos: true
+        motiongen:
+          type: go2plus
+          enable: true
+          batch_size: 1
+          debug: false
+          motiongen_num_instances: 1
+          microbatch_wait_ms: 400.0
+          mode: position
+          relative_to_world_frame: false
+          eef_num: 1
+          seed_use_live_joint_pos: true
+          anchor_ik_seeds_to_current_state: false
+          num_trajopt_seeds: 1
+          num_ik_seeds: 4
+          max_attempts: 4
+          joint_limit_retry_weight: 100000000.0
+          start_state_limit_inset: 0.002
+        body:
+          type: nav
+          dwb_type: dwb_quadruped
+          dwb_quadruped:
+            device: cpu
+            dt: 0.02
+            debug: false
+            num_rollout_steps: 60
+            num_speed_samples: 11
+            num_steer_samples: 11
+            num_vx_samples: 7
+            num_vy_samples: 7
+            num_yaw_samples: 7
+            max_accel: 0.4
+            max_steer_rate: 1.5
+            max_accel_vx: 0.4
+            max_accel_vy: 0.4
+            max_yaw_accel: 0.4444444444444445
+            w_goal: 6.0
+            w_path: 24.0
+            w_vel: 0.2
+            w_vy: 0.0
+            dilate_radius: 0.2
+            goal_cost_mode: path
+            room_size: 12.0
+            occupancy_update_interval: 25
+            scan_height: 0.38
+            scan_min_z: 0.15
+            scan_max_z: 0.63
+            goal_pos_threshold: 0.16
+            goal_yaw_threshold: 0.08
+            goal_yaw_hysteresis: 0.02
+            kp_goal_yaw: 4.0
+            heading_reference: path
+            turn_yaw_threshold: 0.8
+            heading_lookahead: 0.8
+            heading_min_leg: 0.35
+            route_yaw_gain: 2.0
+            min_vx: -0.2
+            max_vx: 0.2
+            min_vy: -0.2
+            max_vy: 0.2
+            min_yaw_rate: -0.22222222222222224
+            max_yaw_rate: 0.22222222222222224
+            dynamic_window_source: command
+            default_height: 0.35
+            safety_min_progress_speed: 0.1
+            safety_stop_distance: 0.2
+            safety_enabled: true
+            safety_deceleration: 0.5
+            safety_reaction_time: 0.5
+            safety_release_distance: 0.35
+            scan_type: 3d
+            robot_type: quadruped
+            velocity_frame: body
+          p_controller:
+            velocity_frame: body
+            nav_upgrade_distance: 0.03
+            nav_heading_target: -1
+            kp_linear_x: 3.0
+            kd_linear_x: 0.4
+            kp_linear_y: 3.0
+            kd_linear_y: 0.4
+            kp_angular: 1.5
+            kd_angular: 0.2
+            kp_angular_turning_only: 1.5
+            kd_angular_turning_only: 0.2
+            min_vel: -0.4
+            max_vel: 0.5
+            linear_dead_zone: 0.01
+            angular_dead_zone: 0.05
+        arm:
+          type: default
+        eef:
+          type: default
+      physics:
+        robot_radius: 0.5
+  camera:
+    enable_tiled: false
+    colorize_depth: false
+    head:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.8231182098388672
+        horizontal_aperture: 1.9199999570846558
+        vertical_aperture: 1.4407838582992554
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/Bodies/go2_base
+        pos:
+        - 0.332051
+        - 0.038027
+        - 0.093559
+        ori:
+        - 169.9473
+        - -88.6452
+        - 81.5985
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+    wrist:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.8517500162124634
+        horizontal_aperture: 1.9199999570846558
+        vertical_aperture: 1.4393036365509033
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/Bodies/piper_link6
+        pos:
+        - -0.074987
+        - 0.005289
+        - 0.045821
+        ori:
+        - 179.3135
+        - -20.212
+        - 88.9402
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+  scene:
+    terrain:
+      type: nav_room
+      collision: true
+      hide_top_walls: true
+      usd:
+      - $MAGICSIM_ASSETS/Room/Collected_SimpleRoom
+      annotation: Annotation
+      random: false
+      pos:
+      - 0.0
+      - 0.0
+      - 0.0
+      ori:
+      - 0.0
+      - 0.0
+      - 0.0
+      scale:
+      - 1.0
+      - 1.0
+      - 1.0
+      physics_material:
+        static_friction: 1.0
+        dynamic_friction: 1.0
+        restitution: 0.0
+        friction_combine_mode: multiply
+        restitution_combine_mode: multiply
+    background:
+      intensity:
+      - 1000
+      - 1000
+    light:
+      light_1:
+        types:
+        - Dome
+        common:
+          pos:
+          - 0.0
+          - 0.0
+          - 0.0
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          color_temperature_range:
+          - 6500
+          - 6500
+          color_range:
+          - - 1.0
+            - 1.0
+            - 1.0
+          - - 1.0
+            - 1.0
+            - 1.0
+        Dome:
+          intensity_range:
+          - 872.3423857337317
+          - 872.3423857337317
+    water:
+      max_particles: 1600
+      particle:
+        fluid_rest_offset: 0.0018
+        ccd: true
+      look:
+        mode: spheres
+        color:
+        - 0.05
+        - 0.45
+        - 1.0
+        bead_scale: 1.5
+      retire:
+        floor_ttl: 3600.0
+        max_age: 7200.0
+        radius: 30.0
+        below: -2.0
+    objects:
+      table_a:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        table_a_1:
+          pos:
+          - -1.0
+          - 3.2
+          - 0.30500000000000005
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.9
+          - 0.6
+          - 0.55
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.35
+              - 0.37
+              - 0.4
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.8668170495272657
+              dynamic_friction: 0.6501127871454492
+              restitution: 0.0
+      table_b:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        table_b_1:
+          pos:
+          - 2.6
+          - 0.4
+          - 0.30500000000000005
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.7
+          - 1.0
+          - 0.55
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.35
+              - 0.37
+              - 0.4
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.821192707937033
+              dynamic_friction: 0.6158945309527747
+              restitution: 0.0
+      tray:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Tray/Object.usda
+        num_per_env: 1
+        random: false
+        tray_1:
+          pos:
+          - -1.0066073163120846
+          - 3.1257702355206907
+          - 0.7210000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 91.50319808657662
+          physics:
+            type: rigid
+            mass: 0.08438412612459358
+            physics_material:
+              static_friction: 1.6261586088005544
+              dynamic_friction: 1.422888782700485
+              restitution: 0.0
+          water: {}
+      rack_a0:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        rack_a0_1:
+          pos:
+          - -1.0
+          - 3.2835
+          - 0.6240000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.1
+          - 0.173
+          - 0.08799999999999997
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.45
+              - 0.3
+              - 0.18
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.8138562813726264
+              dynamic_friction: 0.6103922110294697
+              restitution: 0.0
+      cradle:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Cradle/Object.usda
+        num_per_env: 1
+        random: false
+        cradle_1:
+          pos:
+          - 2.449
+          - 0.4
+          - 0.5800000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.7610983491016855
+              dynamic_friction: 0.570823761826264
+              restitution: 0.0
+  nav:
+    navmesh:
+      enabled: true
+      visualize: false
+      bake_timeout_s: 120
+      agent_height_cm: 65
+      min_agent_radius_cm: 30.0
+      max_agent_radius_cm: 30.0
+      max_step_height_cm: 20
+      max_floor_slope_deg: 30
+      agent_island_radius_cm: 5
+      auto_exclude_rigid_bodies: true
+      validate_path_clearance: true
+      validate_path_window: true
+      navmesh_offset_z_m: 0
+      verbose: true
+    occupancymap:
+      cell_size: 0.05
+task:
+  observation: {}
+  reward: {}
+  termination:
+    timeout_steps: 24000
+    success_hold_frames: 1
+  mmb:
+    task_id: N015
+    agent_id: a03
+    embodiment: stretch3
+    level: easy
+    scene_seed: 1042
+    layout:
+      S:
+      - -3.0046480378621556
+      - -1.5802067809226417
+      - 0.43633231299858366
+      tables:
+        A:
+          center:
+          - -1.0
+          - 3.2
+          size:
+          - 0.9
+          - 0.6
+          top: 0.5800000000000001
+          color:
+          - 0.35
+          - 0.37
+          - 0.4
+        B:
+          center:
+          - 2.6
+          - 0.4
+          size:
+          - 0.7
+          - 1.0
+          top: 0.5800000000000001
+          color:
+          - 0.35
+          - 0.37
+          - 0.4
+      stations:
+        A:
+          table: A
+          work_point:
+          - -1.0
+          - 3.12
+          arm_dir:
+          - 0.0
+          - 1.0
+          reach: 0.54
+          fwd: 0.0
+          stand:
+          - -1.0
+          - 2.58
+          - 1.5707963267948966
+        B:
+          table: B
+          work_point:
+          - 2.34
+          - 0.4
+          arm_dir:
+          - 1.0
+          - 0.0
+          reach: 0.5900000000000001
+          fwd: -0.021
+          stand:
+          - 1.7499999999999998
+          - 0.42100000000000004
+          - 0.0
+    hold_ticks: 40
+    grace_ticks: 300
+    water_settle_ticks: 160
+    object_settle_ticks: 60
+    planning:
+      avoid:
+      - dynamic
+      ignore:
+      - tray
+      - water
+    water:
+      max_particles: 1600
+      fluid_rest_offset: 0.0018
+    cradle:
+      center:
+      - 2.449
+      - 0.4
+      top_z: 0.6500000000000001
+      far_edge_x: 2.549
+      size:
+      - 0.2
+      - 0.12
+      - 0.07
+    start:
+      ml: 24.0
+      blob_shift_x: 0.0
+    success:
+      min_pocket_ml: 14.0
+      max_start_ml: 7.0
+      min_start_at_cradle_frac: 0.8
+      max_spill_ml: 3.0
+      min_carry_frac: 0.9
+      max_over_top_ticks: 6
+      max_end_tilt_deg: 4.0
+    tool:
+      category: tray
+      asset: Tray
+      plate_z: 0.7200000000000001
+    view:
+      eye:
+      - 2.999
+      - -0.09999999999999998
+      - 1.0
+      target:
+      - 2.449
+      - 0.4
+      - 0.6800000000000002
+    dr:
+      seed: 1042
+      spawn_dxy:
+      - -0.005
+      - 0.22
+      friction_scale:
+        cradle_1: 0.951
+        rack_a0_1: 1.017
+        table_a_1: 1.084
+        table_b_1: 1.026
+        tray_1: 1.016
+      moved:
+        tray_1:
+        - -0.0066
+        - 0.0058
+        - 1.5
+      light_scale: 0.969
+collect:
+  command:
+    TiltMaze:
+      stage_retries: 2
+      robot_id: 0
+      init_limit: 30
+      max_attempt: 1
+      completion_timeout_steps: 4000
+      pre_back: 0.12
+      lift: 0.08
+      lift_slip_deg: 12.0
+      carry:
+        lateral: 0.55
+        forward: 0.0
+        z: 0.88
+        pitch_up_deg: 0.0
+      place:
+        above: 0.06
+        contact_gap: 0.002
+        pre_pitch_up_deg: 5.0
+      tilt:
+        deg:
+        - 5.0
+        - 9.0
+        - 13.0
+        hold_ticks: 300
+        back_deg:
+        - 8.0
+        - 4.0
+        - 0.0
+      modes:
+        pre_grasp: -1
+        grasp: 4
+        lift: 4
+        carry: -1
+        trim: 4
+        pre_place: -1
+        place: 4
+        tilt: 4
+        release: 4
+        retreat: 4
+  global_planner:
+    NavTo:
+      use_navmesh: true
+      use_absolute: true
+      translation_threshold: 0.2
+      rotation_threshold: 0.3
+      num_path_segments: 30
+      start_forward_offset: -0.25
+      visualize_path: false
+      carry_arm: true
+    NavToTrim:
+      use_navmesh: false
+      carry_arm: true
+      visualize_path: false
+      trim_pos_threshold: 0.01
+      trim_yaw_threshold: 0.015
+      max_steps: 1500
+    MobileMoveL:
+      translation_threshold: 0.006
+      rotation_threshold: 0.2
+      stall_release_ticks: 100
+      stall_release_factor: 5.0
+      motiongen_distance_threshold: 0.05
+      timeout_steps: 3000
+      timeout_done_tolerance: 0.06
+      debug: false
+      debug_viz: false
+      debug_sphere: false
+      reactive: false
+      base_pos_threshold: 0.12
+      base_rot_threshold: 0.5
+      eef_pos_threshold: 0.03
+      eef_rot_threshold: 0.3
+      waypoint_max_steps: 8
+      interp_steps: 60
+      interp_validate_target: true
+    ParallelGripper:
+      gripper_threshold: 0.0005
+      timeout_steps: 60
+  atomic_skill:
+    NavToPose:
+      robot_id: 0
+      position_threshold: 0.2
+      angle_threshold: 0.3
+      trim: false
+    Move:
+      robot_id: 0
+      hand_id: 0
+      arm_planner: MobileMoveL
+      hand_planner: ParallelGripper
+      ramp_steps: 0
+      hold_steps: 60
+      open_value: 0.0
+      close_value: 1.0
+  auto_collect:
+    task_type: tiltmaze
+    max_trajectories: 1
+  record:
+    output_dir: /mnt/scratch/xc536_atomic/n015_go2_off_1042/out
+    formats:
+    - lerobot_v21
+    - sim_info
+    clear_buffer_on_failure: true
+    lerobot:
+      subsample_every: 2
+visual_dr:
+  keep:
+  - Water
diff --git a/N015/go2_arm/dr_off/seed_1042/report.json b/N015/go2_arm/dr_off/seed_1042/report.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdeff1a7a873c541193be2d6b99beae5118a5ad2
--- /dev/null
+++ b/N015/go2_arm/dr_off/seed_1042/report.json
@@ -0,0 +1,11938 @@
+{
+ "task": "N015",
+ "level": "easy",
+ "seed": 1042,
+ "episodes": [
+  {
+   "task_id": "N015",
+   "task_version": "EXT60-MobileAvatar-v3",
+   "agent_id": "a03",
+   "family_id": "liquid_tilt_maze",
+   "primary_category": "C5",
+   "level": "easy",
+   "embodiment": "stretch3",
+   "scene_seed": 1042,
+   "execution_mode": "scripted_expert_chain: Task env -> Command -> AtomicSkill -> GlobalPlanner -> cuRobo; base by NavMesh + DWB (NavToPose), arm by MobileMoveL, hand by ParallelGripper",
+   "station_layout": {
+    "S": [
+     -3.0046480378621556,
+     -1.5802067809226417,
+     0.43633231299858366
+    ],
+    "tables": {
+     "A": {
+      "center": [
+       -1.0,
+       3.2
+      ],
+      "size": [
+       0.9,
+       0.6
+      ],
+      "top": 0.5800000000000001,
+      "color": [
+       0.35,
+       0.37,
+       0.4
+      ]
+     },
+     "B": {
+      "center": [
+       2.6,
+       0.4
+      ],
+      "size": [
+       0.7,
+       1.0
+      ],
+      "top": 0.5800000000000001,
+      "color": [
+       0.35,
+       0.37,
+       0.4
+      ]
+     }
+    },
+    "stations": {
+     "A": {
+      "table": "A",
+      "work_point": [
+       -1.0,
+       3.12
+      ],
+      "arm_dir": [
+       0.0,
+       1.0
+      ],
+      "reach": 0.54,
+      "fwd": 0.0,
+      "stand": [
+       -1.0,
+       2.58,
+       1.5707963267948966
+      ]
+     },
+     "B": {
+      "table": "B",
+      "work_point": [
+       2.34,
+       0.4
+      ],
+      "arm_dir": [
+       1.0,
+       0.0
+      ],
+      "reach": 0.5900000000000001,
+      "fwd": -0.021,
+      "stand": [
+       1.7499999999999998,
+       0.42100000000000004,
+       0.0
+      ]
+     }
+    }
+   },
+   "spawn_pose": [
+    -3.005310535430908,
+    -1.580518364906311,
+    0.4366400854619281
+   ],
+   "base_path": [
+    [
+     0.02,
+     -3.005310535430908,
+     -1.580518364906311,
+     0.4366400854619281
+    ],
+    [
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+     -1.5822898149490356,
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+    ],
+    [
+     1.22,
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+    ],
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+    ],
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+    ],
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+    ],
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+  "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32",
+  "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32",
+  "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32",
+  "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32",
+  "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32"
+ ],
+ "review_cameras": [],
+ "elapsed_s": 2167.9,
+ "full_successes": 1
+}
diff --git a/N015/go2_arm/dr_off/seed_1042/snap/episode_01_end.png b/N015/go2_arm/dr_off/seed_1042/snap/episode_01_end.png
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diff --git a/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/completed/0.json b/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/completed/0.json
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diff --git a/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/lerobot_v21/data/chunk-000/episode_000000.parquet
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diff --git a/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/lerobot_v21/meta/episodes.jsonl b/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/lerobot_v21/meta/episodes.jsonl
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diff --git a/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/lerobot_v21/meta/episodes_stats.jsonl b/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/lerobot_v21/meta/episodes_stats.jsonl
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diff --git a/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/lerobot_v21/meta/extra/episode_000000.json b/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/lerobot_v21/meta/extra/episode_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..52cfd9a1b8628dfb2ead17f2fb0f23d4971ad2d6
--- /dev/null
+++ b/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/lerobot_v21/meta/extra/episode_000000.json
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+     "relation": "on_top_of",
+     "object": "rack_a0_1"
+    },
+    {
+     "subject": "tray_1",
+     "relation": "right_of",
+     "object": "rack_a0_1"
+    },
+    {
+     "subject": "rack_a0_1",
+     "relation": "left_of",
+     "object": "tray_1"
+    },
+    {
+     "subject": "cradle_1",
+     "relation": "on_top_of",
+     "object": "table_b_1"
+    },
+    {
+     "subject": "cradle_1",
+     "relation": "left_of",
+     "object": "table_b_1"
+    }
+   ],
+   "cameras": [
+    {
+     "name": "head",
+     "intrinsics": {
+      "K": [
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+        320.0
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+       [
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+      "fov_h_deg": 55.53991912549515,
+      "resolution": [
+       640,
+       480
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+     },
+     "pos_robot": [
+      3.7152165260299297,
+      0.03794305361197868,
+      -0.30657427548206845
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+     "viewpoint": "front, at table height",
+     "extrinsics": {
+      "R": [
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+        -0.9995776319673901,
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+        -0.0041270631819024794,
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+      "t": [
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+       -0.08682200219228882,
+       0.33429322289826396
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+     }
+    },
+    {
+     "name": "wrist",
+     "intrinsics": {
+      "K": [
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+        320.0
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+       [
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+        240.0
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+       [
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+      ],
+      "fov_h_deg": 54.807019583348044,
+      "resolution": [
+       640,
+       480
+      ]
+     },
+     "pos_robot": [
+      3.332514473231718,
+      0.18159094360849273,
+      -0.3505635649360488
+     ],
+     "viewpoint": "front, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        0.017356943317221596,
+        -0.9998337334638687,
+        0.005589449560045617
+       ],
+       [
+        -0.9382601518788614,
+        -0.014355819960515381,
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+       ],
+       [
+        -0.3454947523696107,
+        -0.011243480820582297,
+        -0.9383533237667454
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+      ],
+      "t": [
+       0.006333551580298355,
+       -0.08611861262827436,
+       0.017148138726427706
+      ]
+     }
+    }
+   ],
+   "robots": [
+    {
+     "name": "Go2Plus",
+     "model": "go2plus",
+     "type": "mobilemanip",
+     "noun": "Unitree Go2 EDU quadruped with a Piper arm",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
+       -3.0046480378621556,
+       -1.5802067809226417,
+       0.45
+      ],
+      "ori": [
+       0.9762960076332092,
+       0.0,
+       0.0,
+       0.2164396196603775
+      ]
+     },
+     "facing_yaw_deg": 25.000000711698682,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [
+    {
+     "name": "light_1",
+     "kind": "light",
+     "type": "dome",
+     "pose": {
+      "pos": [
+       0.0,
+       0.0,
+       0.0
+      ],
+      "ori": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     },
+     "role": "ambient",
+     "intensity": 872.3423857337317,
+     "brightness": "dim",
+     "color_temperature": 6500.0,
+     "warmth": "cool",
+     "color": "white",
+     "direction": "from the front"
+    }
+   ],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1000.0,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown rack a0. There are a large gray table a, a large gray table b, a small tray, a large brown rack a0 and a small cradle. The gray table a is to the right of the brown rack a0. The gray table b is to the right of the cradle. The tray is on top of the brown rack a0. The tray is to the right of the brown rack a0. The brown rack a0 is to the left of the tray. The cradle is on top of the gray table b. The cradle is to the left of the gray table b. The scene is lit by a cool light from the front. The scene is viewed from front, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                      [[cradle]\n\n\n[rack a0]]\n\n\n\n\n                        [robot]"
+  },
+  "task": {
+   "task_type": "TiltMaze",
+   "instruction": "Go to the rack, pick up the tray with the water in it, carry it to the work table, set it on the holder, and tilt it so the water flows around the barrier into the collecting pocket.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Tiltmaze the 1.5707963267948966.",
+   "task_id": "N015",
+   "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
+}
\ No newline at end of file
diff --git a/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/lerobot_v21/meta/info.json b/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/lerobot_v21/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd9dfe89ddf7e6ebf7dcb48cc132b1df18cfefc3
--- /dev/null
+++ b/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/lerobot_v21/meta/info.json
@@ -0,0 +1,2506 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "Go2PlusCfg",
+    "total_episodes": 1,
+    "total_frames": 3989,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "base_action_0",
+                "base_action_1",
+                "base_action_2",
+                "base_action_3",
+                "eef0.pos_x",
+                "eef0.pos_y",
+                "eef0.pos_z",
+                "eef0.quat_w",
+                "eef0.quat_x",
+                "eef0.quat_y",
+                "eef0.quat_z",
+                "gripper"
+            ]
+        },
+        "action_is_hold": {
+            "dtype": "bool",
+            "shape": [
+                12
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                26
+            ],
+            "names": [
+                "joint_0",
+                "joint_1",
+                "joint_2",
+                "joint_3",
+                "joint_4",
+                "joint_5",
+                "joint_6",
+                "joint_7",
+                "joint_8",
+                "joint_9",
+                "joint_10",
+                "joint_11",
+                "joint_12",
+                "joint_13",
+                "joint_14",
+                "joint_15",
+                "joint_16",
+                "joint_17",
+                "joint_18",
+                "joint_19",
+                "joint_20",
+                "joint_21",
+                "joint_22",
+                "joint_23",
+                "gripper_0",
+                "gripper_1"
+            ]
+        },
+        "observation.joint_vel": {
+            "dtype": "float32",
+            "shape": [
+                20
+            ],
+            "names": [
+                "go2_FL_hip_joint",
+                "go2_FR_hip_joint",
+                "go2_RL_hip_joint",
+                "go2_RR_hip_joint",
+                "piper_joint1",
+                "go2_FL_thigh_joint",
+                "go2_FR_thigh_joint",
+                "go2_RL_thigh_joint",
+                "go2_RR_thigh_joint",
+                "piper_joint2",
+                "go2_FL_calf_joint",
+                "go2_FR_calf_joint",
+                "go2_RL_calf_joint",
+                "go2_RR_calf_joint",
+                "piper_joint3",
+                "piper_joint4",
+                "piper_joint5",
+                "piper_joint6",
+                "piper_joint7",
+                "piper_joint8"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                2240
+            ],
+            "names": [
+                "object_pose.cradle.0",
+                "object_pose.cradle.1",
+                "object_pose.cradle.2",
+                "object_pose.cradle.3",
+                "object_pose.cradle.4",
+                "object_pose.cradle.5",
+                "object_pose.cradle.6",
+                "object_pose.rack_a0.0",
+                "object_pose.rack_a0.1",
+                "object_pose.rack_a0.2",
+                "object_pose.rack_a0.3",
+                "object_pose.rack_a0.4",
+                "object_pose.rack_a0.5",
+                "object_pose.rack_a0.6",
+                "object_pose.table_a.0",
+                "object_pose.table_a.1",
+                "object_pose.table_a.2",
+                "object_pose.table_a.3",
+                "object_pose.table_a.4",
+                "object_pose.table_a.5",
+                "object_pose.table_a.6",
+                "object_pose.table_b.0",
+                "object_pose.table_b.1",
+                "object_pose.table_b.2",
+                "object_pose.table_b.3",
+                "object_pose.table_b.4",
+                "object_pose.table_b.5",
+                "object_pose.table_b.6",
+                "object_pose.tray.0",
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+        },
+        "action.command": {
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+        },
+        "sim_step_idx": {
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+            "names": null
+        },
+        "timestamp": {
+            "dtype": "float32",
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+                1
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+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
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+            "names": null
+        },
+        "episode_index": {
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+        "next.done": {
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+                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
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/lerobot_v21/meta/magicsim_manifest.json b/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/lerobot_v21/meta/magicsim_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..5c196f4d1f56550c76fe2f2a4f5ac16e6ce050ee
--- /dev/null
+++ b/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/lerobot_v21/meta/magicsim_manifest.json
@@ -0,0 +1,290 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 00:12:42"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "Go2Plus",
+                "cfg": "Go2PlusCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
+                ]
+            }
+        ]
+    },
+    "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": 12,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "Go2Plus.base_action",
+                "start": 0,
+                "end": 4,
+                "names": [
+                    "base_action_0",
+                    "base_action_1",
+                    "base_action_2",
+                    "base_action_3"
+                ],
+                "source": "Go2UnifiedLocomotionAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "Go2Plus.arm_action",
+                "start": 4,
+                "end": 11,
+                "names": [
+                    "eef0.pos_x",
+                    "eef0.pos_y",
+                    "eef0.pos_z",
+                    "eef0.quat_w",
+                    "eef0.quat_x",
+                    "eef0.quat_y",
+                    "eef0.quat_z"
+                ],
+                "source": "Go2PlusCuroboIKAction",
+                "names_source": "pose_layout"
+            },
+            {
+                "name": "Go2Plus.eef_action",
+                "start": 11,
+                "end": 12,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 26,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_pos",
+                "start": 0,
+                "end": 24,
+                "names": [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11",
+                    "joint_12",
+                    "joint_13",
+                    "joint_14",
+                    "joint_15",
+                    "joint_16",
+                    "joint_17",
+                    "joint_18",
+                    "joint_19",
+                    "joint_20",
+                    "joint_21",
+                    "joint_22",
+                    "joint_23"
+                ],
+                "source": "ObservationManager",
+                "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)"
+            },
+            {
+                "name": "Go2Plus.gripper_pos",
+                "start": 24,
+                "end": 26,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 20,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_vel",
+                "start": 0,
+                "end": 20,
+                "names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
+                ],
+                "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": {
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+    "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": "tiltmaze/000",
+        "task_type": "TiltMaze"
+    }
+}
\ No newline at end of file
diff --git a/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/lerobot_v21/meta/stats.json b/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/lerobot_v21/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..17c8a6349de2d2ebccc35747b0618fc924478b7e
--- /dev/null
+++ b/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/lerobot_v21/meta/stats.json
@@ -0,0 +1,15129 @@
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+        "count": [
+            100
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+}
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diff --git a/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/lerobot_v21/meta/tasks.jsonl b/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/lerobot_v21/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..f78e0de178505b31fbbd2552fce69381a6e187cd
--- /dev/null
+++ b/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/lerobot_v21/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Go to the rack, pick up the tray with the water in it, carry it to the work table, set it on the holder, and tilt it so the water flows around the barrier into the collecting pocket."}
diff --git a/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4
new file mode 100644
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--- /dev/null
+++ b/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f08deed8c0adfd8e683e2f0926f4512df5b12ce3bab78131fbf0e3ea71c1dd9
+size 97514439
diff --git a/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4
new file mode 100644
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+++ b/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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diff --git a/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/run_meta.json b/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/run_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e0e894639080a5eb6618b78f5d62df140cad5263
--- /dev/null
+++ b/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/run_meta.json
@@ -0,0 +1,974 @@
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+                            "arm_dir": [
+                                1.0,
+                                0.0
+                            ],
+                            "reach": 0.5900000000000001,
+                            "fwd": -0.021,
+                            "stand": [
+                                1.7499999999999998,
+                                0.42100000000000004,
+                                0.0
+                            ]
+                        }
+                    }
+                },
+                "hold_ticks": 40,
+                "grace_ticks": 300,
+                "water_settle_ticks": 160,
+                "object_settle_ticks": 60,
+                "planning": {
+                    "avoid": [
+                        "dynamic"
+                    ],
+                    "ignore": [
+                        "tray",
+                        "water"
+                    ]
+                },
+                "water": {
+                    "max_particles": 1600,
+                    "fluid_rest_offset": 0.0018
+                },
+                "cradle": {
+                    "center": [
+                        2.449,
+                        0.4
+                    ],
+                    "top_z": 0.6500000000000001,
+                    "far_edge_x": 2.549,
+                    "size": [
+                        0.2,
+                        0.12,
+                        0.07
+                    ]
+                },
+                "start": {
+                    "ml": 24.0,
+                    "blob_shift_x": 0.0
+                },
+                "success": {
+                    "min_pocket_ml": 14.0,
+                    "max_start_ml": 7.0,
+                    "min_start_at_cradle_frac": 0.8,
+                    "max_spill_ml": 3.0,
+                    "min_carry_frac": 0.9,
+                    "max_over_top_ticks": 6,
+                    "max_end_tilt_deg": 4.0
+                },
+                "tool": {
+                    "category": "tray",
+                    "asset": "Tray",
+                    "plate_z": 0.7200000000000001
+                },
+                "view": {
+                    "eye": [
+                        2.999,
+                        -0.09999999999999998,
+                        1.0
+                    ],
+                    "target": [
+                        2.449,
+                        0.4,
+                        0.6800000000000002
+                    ]
+                },
+                "dr": {
+                    "seed": 1042,
+                    "spawn_dxy": [
+                        -0.005,
+                        0.22
+                    ],
+                    "friction_scale": {
+                        "cradle_1": 0.951,
+                        "rack_a0_1": 1.017,
+                        "table_a_1": 1.084,
+                        "table_b_1": 1.026,
+                        "tray_1": 1.016
+                    },
+                    "moved": {
+                        "tray_1": [
+                            -0.0066,
+                            0.0058,
+                            1.5
+                        ]
+                    },
+                    "light_scale": 0.969
+                }
+            },
+            "command": {
+                "TiltMaze": {
+                    "stage_retries": 2,
+                    "robot_id": 0,
+                    "init_limit": 30,
+                    "max_attempt": 1,
+                    "completion_timeout_steps": 4000,
+                    "pre_back": 0.12,
+                    "lift": 0.08,
+                    "lift_slip_deg": 12.0,
+                    "carry": {
+                        "lateral": 0.55,
+                        "forward": 0.0,
+                        "z": 0.88,
+                        "pitch_up_deg": 0.0
+                    },
+                    "place": {
+                        "above": 0.06,
+                        "contact_gap": 0.002,
+                        "pre_pitch_up_deg": 5.0
+                    },
+                    "tilt": {
+                        "deg": [
+                            5.0,
+                            9.0,
+                            13.0
+                        ],
+                        "hold_ticks": 300,
+                        "back_deg": [
+                            8.0,
+                            4.0,
+                            0.0
+                        ]
+                    },
+                    "modes": {
+                        "pre_grasp": -1,
+                        "grasp": 4,
+                        "lift": 4,
+                        "carry": -1,
+                        "trim": 4,
+                        "pre_place": -1,
+                        "place": 4,
+                        "tilt": 4,
+                        "release": 4,
+                        "retreat": 4
+                    }
+                }
+            }
+        },
+        "collect": {
+            "command": {
+                "TiltMaze": {
+                    "stage_retries": 2,
+                    "robot_id": 0,
+                    "init_limit": 30,
+                    "max_attempt": 1,
+                    "completion_timeout_steps": 4000,
+                    "pre_back": 0.12,
+                    "lift": 0.08,
+                    "lift_slip_deg": 12.0,
+                    "carry": {
+                        "lateral": 0.55,
+                        "forward": 0.0,
+                        "z": 0.88,
+                        "pitch_up_deg": 0.0
+                    },
+                    "place": {
+                        "above": 0.06,
+                        "contact_gap": 0.002,
+                        "pre_pitch_up_deg": 5.0
+                    },
+                    "tilt": {
+                        "deg": [
+                            5.0,
+                            9.0,
+                            13.0
+                        ],
+                        "hold_ticks": 300,
+                        "back_deg": [
+                            8.0,
+                            4.0,
+                            0.0
+                        ]
+                    },
+                    "modes": {
+                        "pre_grasp": -1,
+                        "grasp": 4,
+                        "lift": 4,
+                        "carry": -1,
+                        "trim": 4,
+                        "pre_place": -1,
+                        "place": 4,
+                        "tilt": 4,
+                        "release": 4,
+                        "retreat": 4
+                    }
+                }
+            },
+            "global_planner": {
+                "NavTo": {
+                    "use_navmesh": true,
+                    "use_absolute": true,
+                    "translation_threshold": 0.2,
+                    "rotation_threshold": 0.3,
+                    "num_path_segments": 30,
+                    "start_forward_offset": -0.25,
+                    "visualize_path": false,
+                    "carry_arm": true
+                },
+                "NavToTrim": {
+                    "use_navmesh": false,
+                    "carry_arm": true,
+                    "visualize_path": false,
+                    "trim_pos_threshold": 0.01,
+                    "trim_yaw_threshold": 0.015,
+                    "max_steps": 1500
+                },
+                "MobileMoveL": {
+                    "translation_threshold": 0.006,
+                    "rotation_threshold": 0.2,
+                    "stall_release_ticks": 100,
+                    "stall_release_factor": 5.0,
+                    "motiongen_distance_threshold": 0.05,
+                    "timeout_steps": 3000,
+                    "timeout_done_tolerance": 0.06,
+                    "debug": false,
+                    "debug_viz": false,
+                    "debug_sphere": false,
+                    "reactive": false,
+                    "base_pos_threshold": 0.12,
+                    "base_rot_threshold": 0.5,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.3,
+                    "waypoint_max_steps": 8,
+                    "interp_steps": 60,
+                    "interp_validate_target": true
+                },
+                "ParallelGripper": {
+                    "gripper_threshold": 0.0005,
+                    "timeout_steps": 60
+                }
+            },
+            "atomic_skill": {
+                "NavToPose": {
+                    "robot_id": 0,
+                    "position_threshold": 0.2,
+                    "angle_threshold": 0.3,
+                    "trim": false
+                },
+                "Move": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "arm_planner": "MobileMoveL",
+                    "hand_planner": "ParallelGripper",
+                    "ramp_steps": 0,
+                    "hold_steps": 60,
+                    "open_value": 0.0,
+                    "close_value": 1.0
+                }
+            },
+            "auto_collect": {
+                "task_type": "tiltmaze",
+                "max_trajectories": 1
+            },
+            "record": {
+                "output_dir": "/mnt/scratch/xc536_atomic/n015_go2_off_1042/out",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            }
+        },
+        "visual_dr": {
+            "keep": [
+                "Water"
+            ]
+        }
+    },
+    "git_sha": null,
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}
\ No newline at end of file
diff --git a/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/sim_info/0/actions.npz b/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/sim_info/0/actions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3cdd17d07dbc39b93dea1e96faa5ef9a32f009e7
--- /dev/null
+++ b/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/sim_info/0/actions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0d532a3997f4cada198e6afdfd664e2021a36f8cd448208aea72268f91a8cb4
+size 1450094
diff --git a/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/sim_info/0/device_commands.jsonl b/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/sim_info/0/device_commands.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/sim_info/0/device_events.jsonl b/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/sim_info/0/device_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/sim_info/0/scene_snapshot.json b/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/sim_info/0/scene_snapshot.json
new file mode 100644
index 0000000000000000000000000000000000000000..199b8fecca86653b608958c7ba570772b8c9ff7c
--- /dev/null
+++ b/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/sim_info/0/scene_snapshot.json
@@ -0,0 +1,10008 @@
+{
+    "trajectory_id": 0,
+    "env_id": 0,
+    "run_id": "tiltmaze/000",
+    "task_type": "TiltMaze",
+    "success": true,
+    "timing": {
+        "fps": 50.0,
+        "sim_dt": 0.005,
+        "decimation": 4
+    },
+    "restore_interface": {
+        "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
+    },
+    "snapshot": {
+        "env_id": 0,
+        "scene": {
+            "objects": [
+                {
+                    "table_a": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    -1.0,
+                                    3.2,
+                                    0.30500000000000005
+                                ],
+                                "ori": [
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+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.9,
+                                    0.6,
+                                    0.55
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.35,
+                                        0.37,
+                                        0.4
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 0.8668170495272657,
+                                        "dynamic_friction": 0.6501127871454492,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "table_b": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    2.6,
+                                    0.4,
+                                    0.30500000000000005
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.7,
+                                    1.0,
+                                    0.55
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.35,
+                                        0.37,
+                                        0.4
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 0.821192707937033,
+                                        "dynamic_friction": 0.6158945309527747,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "tray": [
+                        {
+                            "asset": "/mnt/scratch/xc536_atomic_local/repo_b3820fd82/Assets/Object/MMB/Tray/Object.usda",
+                            "pose": {
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+                                    -1.006607174873352,
+                                    3.125769853591919,
+                                    0.7199993133544922
+                                ],
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+                                    2.600252628326416e-06,
+                                    -1.955520929186605e-06,
+                                    0.7163213491439819
+                                ],
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+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
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+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
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+                                    "mass": 0.08438412612459358,
+                                    "physics_material": {
+                                        "static_friction": 1.6261586088005544,
+                                        "dynamic_friction": 1.422888782700485,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "linear_velocity": [
+                                    -0.0005964521551504731,
+                                    0.00023185316240414977,
+                                    -0.0002635259588714689
+                                ],
+                                "angular_velocity": [
+                                    -0.004642547108232975,
+                                    -0.004752951208502054,
+                                    -0.0015348285669460893
+                                ]
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+                        }
+                    ],
+                    "rack_a0": [
+                        {
+                            "asset": "Cube",
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+                                    0.6240000000000001
+                                ],
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+                                    1.0,
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+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
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+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.45,
+                                        0.3,
+                                        0.18
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 0.8138562813726264,
+                                        "dynamic_friction": 0.6103922110294697,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "cradle": [
+                        {
+                            "asset": "/mnt/scratch/xc536_atomic_local/repo_b3820fd82/Assets/Object/MMB/Cradle/Object.usda",
+                            "pose": {
+                                "pos": [
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+                                ],
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+                                    1.0
+                                ]
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+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "physics_material": {
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+                                        "dynamic_friction": 0.570823761826264,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {}
+                        }
+                    ]
+                }
+            ],
+            "hooks": {
+                "water": {
+                    "version": 2,
+                    "envs": {
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+}
\ No newline at end of file
diff --git a/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/sim_info/0/sim_states.npz b/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/sim_info/0/sim_states.npz
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--- /dev/null
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+size 54444550
diff --git a/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/sim_info/magicsim_manifest.json b/N015/go2_arm/dr_off/seed_1042/tiltmaze/000/sim_info/magicsim_manifest.json
new file mode 100644
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--- /dev/null
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@@ -0,0 +1,259 @@
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+                    "eef0.quat_w",
+                    "eef0.quat_x",
+                    "eef0.quat_y",
+                    "eef0.quat_z"
+                ],
+                "source": "Go2PlusCuroboIKAction",
+                "names_source": "pose_layout"
+            },
+            {
+                "name": "Go2Plus.eef_action",
+                "start": 11,
+                "end": 12,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 26,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_pos",
+                "start": 0,
+                "end": 24,
+                "names": [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11",
+                    "joint_12",
+                    "joint_13",
+                    "joint_14",
+                    "joint_15",
+                    "joint_16",
+                    "joint_17",
+                    "joint_18",
+                    "joint_19",
+                    "joint_20",
+                    "joint_21",
+                    "joint_22",
+                    "joint_23"
+                ],
+                "source": "ObservationManager",
+                "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)"
+            },
+            {
+                "name": "Go2Plus.gripper_pos",
+                "start": 24,
+                "end": 26,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 20,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_vel",
+                "start": 0,
+                "end": 20,
+                "names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
+                ],
+                "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": [
+                    [
+                        607.7061061683956,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        607.3754374751866,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 55.53991912549515,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.33205100893974304,
+                0.038026999682188034,
+                0.09355899691581726
+            ],
+            "quat": [
+                -0.5022302269935608,
+                -0.499491810798645,
+                0.5120040774345398,
+                0.4859265089035034
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        617.2500342478374,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        617.548655622722,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 54.807019583348044,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                -0.0749870017170906,
+                0.005288999993354082,
+                0.04582099989056587
+            ],
+            "quat": [
+                0.1271296590566635,
+                0.701795220375061,
+                -0.6904057860374451,
+                -0.12108422070741653
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "tiltmaze/000",
+        "task_type": "TiltMaze"
+    }
+}
\ No newline at end of file
diff --git a/N015/stretch3/dr_on/seed_2044/check.json b/N015/stretch3/dr_on/seed_2044/check.json
new file mode 100644
index 0000000000000000000000000000000000000000..c0cd3828583148af9728c9adbc24821074ef5c66
--- /dev/null
+++ b/N015/stretch3/dr_on/seed_2044/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 rack, pick up the tray with the water in it, carry it to the work table, set it on the holder, and tilt it so the water flows around the barrier into the collecting pocket.'; expected 'Go to the rack, pick up the tray with the water in it, carry it to the work table, set it on the holder, and tilt it so the water flows around the barrier into the collecting pocket.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "3600 rows vs ceil(7200/2) = 3600"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 251..7449, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "72.32 MB, 3600 frames at 25 fps, mean luma 17..135, std 30, new picture 3599x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "3600 vs 3600"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "62.92 MB, 3600 frames at 25 fps, mean luma 32..89, std 44, new picture 3599x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "3600 vs 3600"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "tiltmaze/000/sim_info"
+  }
+ }
+}
\ No newline at end of file
diff --git a/N015/stretch3/dr_on/seed_2044/check.txt b/N015/stretch3/dr_on/seed_2044/check.txt
new file mode 100644
index 0000000000000000000000000000000000000000..647b73297fff835d182809383790dc4f2bb42a1c
--- /dev/null
+++ b/N015/stretch3/dr_on/seed_2044/check.txt
@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n015_str_on_2044/out  task=N015  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n015_str_on_2044/out/tiltmaze/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 3600  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: 3600 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 rack, pick up the tray with the water in it, carry it to the work table, set it on the holder, and tilt it so the water flows around the barrier into the collecting pocket.'; expected 'Go to the rack, pick up the tray with the water in it, carry it to the work table, set it on the holder, and tilt it so the water flows around the barrier into the collecting pocket.'
+rows 3600 at dataset fps 25 = 144.00 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3600 rows vs ceil(7200/2) = 3600
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 251..7449, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 72.32 MB, 3600 frames at 25 fps, mean luma 17..135, std 30, new picture 3599x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 3600 vs 3600
+[PASS] video observation.images.wrist decodes, 640x480, not black: 62.92 MB, 3600 frames at 25 fps, mean luma 32..89, std 44, new picture 3599x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 3600 vs 3600
+parquet size 33.76 MB
+[PASS] sim_info present: tiltmaze/000/sim_info
+dataset size 169.71 MB; whole cell dir 219.4 MB
+RESULT: ALL PASS
diff --git a/N015/stretch3/dr_on/seed_2044/config.yaml b/N015/stretch3/dr_on/seed_2044/config.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..822af81fa66a47f4e3d09c872c4cac8903301f63
--- /dev/null
+++ b/N015/stretch3/dr_on/seed_2044/config.yaml
@@ -0,0 +1,685 @@
+env_string: TiltMazeEnv-V0
+env:
+  sim:
+    device: cpu
+    use_fabric: false
+    decimation: 4
+    dt: 0.005
+    seed: 2044
+    soft_resets: 1000000
+    scene:
+      num_envs: 1
+      env_spacing: 14
+    render:
+      rendering_mode: performance
+      enable_reflections: false
+      enable_global_illumination: false
+      enable_translucency: false
+      enable_dl_denoiser: false
+  robot:
+    HelloRobot:
+      name: hellorobot
+      type: mobilemanip
+      common:
+        pos:
+        - - -3.064064094479676
+          - -1.8529309135609286
+          - 0.06
+        - - -3.064064094479676
+          - -1.8529309135609286
+          - 0.06
+        ori:
+        - - 0
+          - 0
+          - -120.00000000000001
+        - - 0
+          - 0
+          - -120.00000000000001
+        initial_joint_pos:
+          joint_lift: 0.55
+          joint_arm_l[0-3]: 0.025
+          joint_wrist_yaw: 0.0
+          joint_wrist_roll: 1.5707963267948966
+      action:
+        base_action: differential_virtual
+        arm_action: ik_abs
+        eef_action: binary
+      planner:
+        dual_mode: true
+        base_joint_names:
+        - dummy_base_prismatic_x_joint
+        - dummy_base_prismatic_y_joint
+        - dummy_base_revolute_z_joint
+        obstacle_ignore_categories: []
+        ik:
+          type: hellorobot
+          enable: true
+          ik_num_instances: 1
+          ik_batch_size: 1
+          ik_num_seeds: 32
+          ik_max_goalset: 1
+          ik_position_threshold: 0.003
+          ik_rotation_threshold: 0.02
+          microbatch_wait_ms: 1.0
+          seed_use_live_joint_pos: true
+        motiongen:
+          type: hellorobot
+          enable: true
+          motiongen_num_instances: 1
+          batch_size: 1
+          microbatch_wait_ms: 1.0
+          seed_use_live_joint_pos: true
+          mode: position
+          num_trajopt_seeds: 1
+          num_ik_seeds: 4
+        body:
+          type: nav
+          dwb_type: dwb_differential
+          dwb_differential:
+            device: cpu
+            dt: 0.02
+            debug: false
+            num_rollout_steps: 60
+            num_speed_samples: 11
+            num_steer_samples: 11
+            num_vx_samples: 7
+            num_vy_samples: 7
+            num_yaw_samples: 7
+            max_accel: 0.4
+            max_steer_rate: 1.5
+            max_accel_vx: 0.4
+            max_accel_vy: 0.4
+            max_yaw_accel: 1.5
+            w_goal: 6.0
+            w_path: 8.0
+            w_vel: 0.2
+            w_vy: 0.0
+            dilate_radius: 0.4
+            room_size: 12.0
+            occupancy_update_interval: 50
+            scan_height: 0.45
+            scan_min_z: 0.22
+            scan_max_z: 1.75
+            goal_pos_threshold: 0.07
+            goal_yaw_threshold: 0.15
+            kp_goal_yaw: 1.5
+            min_speed: -0.2
+            max_speed: 0.2
+            w_heading: 0.5
+            min_yaw_rate: -0.8
+            max_yaw_rate: 0.8
+            safety_enabled: true
+            safety_deceleration: 0.5
+            safety_reaction_time: 0.5
+            goal_heading_fade_distance: 0.5
+            scan_type: 3d
+            own_body_clear: true
+            own_body_radius: 0.15
+          p_controller:
+            kp_angular_turning_only: 2.0
+            kd_angular_turning_only: 0.2
+            kp_linear_x: 2.0
+            kp_linear_y: 2.0
+            kp_angular: 2.0
+            kd_linear_x: 0.1
+            kd_linear_y: 0.1
+            min_vel: -0.25
+            max_vel: 0.35
+            linear_dead_zone: 0.003
+            angular_dead_zone: 0.008
+            nav_heading_target: 1
+            velocity_frame: world
+        arm:
+          type: default
+        eef:
+          type: default
+      physics:
+        robot_radius: 0.4
+        wheel_base: 0.5
+      reset: default
+  camera:
+    enable_tiled: false
+    colorize_depth: false
+    head:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 2.73834228515625
+        horizontal_aperture: 2.1600000858306885
+        vertical_aperture: 1.62
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/base_link
+        pos:
+        - 0.049771
+        - -0.002942
+        - 1.295723
+        ori:
+        - 0.0002
+        - -55.623
+        - -90.0
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+    wrist:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.280753493309021
+        horizontal_aperture: 1.9199999570846558
+        vertical_aperture: 1.44
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/link_gripper_s3_body
+        pos:
+        - 0.009
+        - 0.062939
+        - 0.056398
+        ori:
+        - -170.0021
+        - 0.0
+        - -179.9998
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+  scene:
+    terrain:
+      type: nav_room
+      collision: true
+      hide_top_walls: true
+      usd:
+      - $MAGICSIM_ASSETS/Room/Collected_SimpleRoom
+      annotation: Annotation
+      random: false
+      pos:
+      - 0.0
+      - 0.0
+      - 0.0
+      ori:
+      - 0.0
+      - 0.0
+      - 0.0
+      scale:
+      - 1.0
+      - 1.0
+      - 1.0
+      physics_material:
+        static_friction: 1.0
+        dynamic_friction: 1.0
+        restitution: 0.0
+        friction_combine_mode: multiply
+        restitution_combine_mode: multiply
+    background:
+      intensity:
+      - 1000
+      - 1000
+    light:
+      light_1:
+        types:
+        - Dome
+        common:
+          pos:
+          - 0.0
+          - 0.0
+          - 0.0
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          color_temperature_range:
+          - 6500
+          - 6500
+          color_range:
+          - - 1.0
+            - 1.0
+            - 1.0
+          - - 1.0
+            - 1.0
+            - 1.0
+        Dome:
+          intensity_range:
+          - 890.720887546989
+          - 890.720887546989
+    water:
+      max_particles: 1600
+      particle:
+        fluid_rest_offset: 0.0018
+        ccd: true
+      look:
+        mode: spheres
+        color:
+        - 0.05
+        - 0.45
+        - 1.0
+        bead_scale: 1.5
+      retire:
+        floor_ttl: 3600.0
+        max_age: 7200.0
+        radius: 30.0
+        below: -2.0
+    objects:
+      table_a:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        table_a_1:
+          pos:
+          - -1.0
+          - 3.2
+          - 0.30500000000000005
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.9
+          - 0.6
+          - 0.55
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.35
+              - 0.37
+              - 0.4
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.7582516806681563
+              dynamic_friction: 0.5686887605011172
+              restitution: 0.0
+      table_b:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        table_b_1:
+          pos:
+          - 2.6
+          - 0.4
+          - 0.30500000000000005
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.7
+          - 1.0
+          - 0.55
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.35
+              - 0.37
+              - 0.4
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.737417156191618
+              dynamic_friction: 0.5530628671437134
+              restitution: 0.0
+      tray:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Tray/Object.usda
+        num_per_env: 1
+        random: false
+        tray_1:
+          pos:
+          - -1.0099662525566233
+          - 3.1196621182950723
+          - 0.7210000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 86.98523722828621
+          physics:
+            type: rigid
+            mass: 0.08769749051213122
+            physics_material:
+              static_friction: 1.7218752883404207
+              dynamic_friction: 1.506640877297868
+              restitution: 0.0
+          water: {}
+      rack_a0:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        rack_a0_1:
+          pos:
+          - -1.0
+          - 3.2835
+          - 0.6240000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.1
+          - 0.173
+          - 0.08799999999999997
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.45
+              - 0.3
+              - 0.18
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.8170734018208997
+              dynamic_friction: 0.6128050513656748
+              restitution: 0.0
+      cradle:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Cradle/Object.usda
+        num_per_env: 1
+        random: false
+        cradle_1:
+          pos:
+          - 2.449
+          - 0.4
+          - 0.5800000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.8514645639740106
+              dynamic_friction: 0.638598422980508
+              restitution: 0.0
+  nav:
+    navmesh:
+      enabled: true
+      visualize: false
+      bake_timeout_s: 120
+      agent_height_cm: 170
+      min_agent_radius_cm: 55.0
+      max_agent_radius_cm: 55.0
+      max_step_height_cm: 20
+      max_floor_slope_deg: 30
+      agent_island_radius_cm: 5
+      auto_exclude_rigid_bodies: true
+      validate_path_clearance: true
+      validate_path_window: true
+      navmesh_offset_z_m: 0
+      verbose: true
+    occupancymap:
+      cell_size: 0.05
+task:
+  observation: {}
+  reward: {}
+  termination:
+    timeout_steps: 24000
+    success_hold_frames: 1
+  mmb:
+    task_id: N015
+    agent_id: a03
+    embodiment: stretch3
+    level: easy
+    scene_seed: 2044
+    layout:
+      S:
+      - -3.064064094479676
+      - -1.8529309135609286
+      - -2.0943951023931957
+      tables:
+        A:
+          center:
+          - -1.0
+          - 3.2
+          size:
+          - 0.9
+          - 0.6
+          top: 0.5800000000000001
+          color:
+          - 0.35
+          - 0.37
+          - 0.4
+        B:
+          center:
+          - 2.6
+          - 0.4
+          size:
+          - 0.7
+          - 1.0
+          top: 0.5800000000000001
+          color:
+          - 0.35
+          - 0.37
+          - 0.4
+      stations:
+        A:
+          table: A
+          work_point:
+          - -1.0
+          - 3.12
+          arm_dir:
+          - 0.0
+          - 1.0
+          reach: 0.74
+          fwd: -0.021
+          stand:
+          - -1.021
+          - 2.38
+          - -3.141592653589793
+        B:
+          table: B
+          work_point:
+          - 2.34
+          - 0.4
+          arm_dir:
+          - 1.0
+          - 0.0
+          reach: 0.5900000000000001
+          fwd: -0.021
+          stand:
+          - 1.7499999999999998
+          - 0.42100000000000004
+          - 1.5707963267948966
+    hold_ticks: 40
+    grace_ticks: 300
+    water_settle_ticks: 160
+    object_settle_ticks: 60
+    planning:
+      avoid:
+      - dynamic
+      ignore:
+      - tray
+      - water
+    water:
+      max_particles: 1600
+      fluid_rest_offset: 0.0018
+    cradle:
+      center:
+      - 2.449
+      - 0.4
+      top_z: 0.6500000000000001
+      far_edge_x: 2.549
+      size:
+      - 0.2
+      - 0.12
+      - 0.07
+    start:
+      ml: 24.0
+      blob_shift_x: 0.0
+    success:
+      min_pocket_ml: 14.0
+      max_start_ml: 7.0
+      min_start_at_cradle_frac: 0.8
+      max_spill_ml: 3.0
+      min_carry_frac: 0.9
+      max_over_top_ticks: 6
+      max_end_tilt_deg: 4.0
+    tool:
+      category: tray
+      asset: Tray
+      plate_z: 0.7200000000000001
+    view:
+      eye:
+      - 2.999
+      - -0.09999999999999998
+      - 1.0
+      target:
+      - 2.449
+      - 0.4
+      - 0.6800000000000002
+    dr:
+      seed: 2044
+      spawn_dxy:
+      - -0.064
+      - -0.053
+      friction_scale:
+        cradle_1: 1.064
+        rack_a0_1: 1.021
+        table_a_1: 0.948
+        table_b_1: 0.922
+        tray_1: 1.076
+      moved:
+        tray_1:
+        - -0.01
+        - -0.0003
+        - -3.01
+      light_scale: 0.99
+collect:
+  command:
+    TiltMaze:
+      stage_retries: 2
+      robot_id: 0
+      init_limit: 30
+      max_attempt: 1
+      completion_timeout_steps: 4000
+      pre_back: 0.12
+      lift: 0.08
+      lift_slip_deg: 12.0
+      carry:
+        lateral: 0.55
+        forward: 0.0
+        z: 0.88
+        pitch_up_deg: 16.0
+      place:
+        above: 0.06
+        contact_gap: 0.002
+        pre_pitch_up_deg: 5.0
+      tilt:
+        deg:
+        - 5.0
+        - 9.0
+        - 13.0
+        hold_ticks: 300
+        back_deg:
+        - 8.0
+        - 4.0
+        - 0.0
+      modes:
+        pre_grasp: -1
+        grasp: 4
+        lift: 4
+        carry: -1
+        trim: 4
+        pre_place: -1
+        place: 4
+        tilt: 4
+        release: 4
+        retreat: 4
+  global_planner:
+    NavTo:
+      use_navmesh: true
+      use_absolute: true
+      translation_threshold: 0.15
+      rotation_threshold: 3.3
+      num_path_segments: 30
+      start_forward_offset: 0.0
+      visualize_path: false
+      carry_arm: true
+    NavToTrim:
+      use_navmesh: false
+      carry_arm: true
+      visualize_path: false
+      trim_pos_threshold: 0.01
+      trim_yaw_threshold: 0.015
+      max_steps: 1500
+    MobileMoveL:
+      translation_threshold: 0.008
+      rotation_threshold: 0.08
+      stall_release_ticks: 80
+      stall_release_factor: 2.5
+      motiongen_distance_threshold: 0.0
+      timeout_steps: 900
+      debug: false
+      debug_viz: false
+      debug_sphere: false
+      reactive: false
+      base_pos_threshold: 0.025
+      base_rot_threshold: 0.05
+      eef_pos_threshold: 0.03
+      eef_rot_threshold: 0.1
+      waypoint_max_steps: 30
+      interp_steps: 120
+    ParallelGripper:
+      gripper_threshold: 0.001
+  atomic_skill:
+    NavToPose:
+      robot_id: 0
+      position_threshold: 0.15
+      angle_threshold: 3.3
+      trim: true
+    Move:
+      robot_id: 0
+      hand_id: 0
+      arm_planner: MobileMoveL
+      hand_planner: ParallelGripper
+      ramp_steps: 0
+      hold_steps: 60
+      open_value: 0.0
+      close_value: 1.0
+  auto_collect:
+    task_type: tiltmaze
+    max_trajectories: 1
+  record:
+    output_dir: /mnt/scratch/xc536_atomic/n015_str_on_2044/out
+    formats:
+    - lerobot_v21
+    - sim_info
+    clear_buffer_on_failure: true
+    lerobot:
+      subsample_every: 2
+visual_dr:
+  keep:
+  - Water
diff --git a/N015/stretch3/dr_on/seed_2044/report.json b/N015/stretch3/dr_on/seed_2044/report.json
new file mode 100644
index 0000000000000000000000000000000000000000..dcbaa1609abfa603c252f891a991aa126be47a59
--- /dev/null
+++ b/N015/stretch3/dr_on/seed_2044/report.json
@@ -0,0 +1,11010 @@
+{
+ "task": "N015",
+ "level": "easy",
+ "seed": 2044,
+ "episodes": [
+  {
+   "task_id": "N015",
+   "task_version": "EXT60-MobileAvatar-v3",
+   "agent_id": "a03",
+   "family_id": "liquid_tilt_maze",
+   "primary_category": "C5",
+   "level": "easy",
+   "embodiment": "stretch3",
+   "scene_seed": 2044,
+   "execution_mode": "scripted_expert_chain: Task env -> Command -> AtomicSkill -> GlobalPlanner -> cuRobo; base by NavMesh + DWB (NavToPose), arm by MobileMoveL, hand by ParallelGripper",
+   "station_layout": {
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+  "/robot_state[0]/HelloRobot/base_pos:(1, 3):torch.float32",
+  "/robot_state[0]/HelloRobot/base_quat:(1, 4):torch.float32",
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+  "/robot_state[0]/HelloRobot/eef_quat:(1, 4):torch.float32",
+  "/robot_state[0]/HelloRobot/eef_relative_pos:(1, 3):torch.float32",
+  "/robot_state[0]/HelloRobot/eef_relative_quat:(1, 4):torch.float32",
+  "/robot_state[0]/HelloRobot/joint_effort:(1, 15):torch.float32",
+  "/robot_state[0]/HelloRobot/joint_pos:(1, 15):torch.float32",
+  "/robot_state[0]/HelloRobot/joint_vel:(1, 15):torch.float32"
+ ],
+ "review_cameras": [],
+ "elapsed_s": 1692.4,
+ "full_successes": 1
+}
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diff --git a/N015/stretch3/dr_on/seed_2044/tiltmaze/000/lerobot_v21/meta/extra/episode_000000.json b/N015/stretch3/dr_on/seed_2044/tiltmaze/000/lerobot_v21/meta/extra/episode_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..5959176d805a045197a4406f5f2ef9c6dd2b8340
--- /dev/null
+++ b/N015/stretch3/dr_on/seed_2044/tiltmaze/000/lerobot_v21/meta/extra/episode_000000.json
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+      "ori": [
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+       0.0,
+       0.0,
+       -0.8660253882408142
+      ]
+     },
+     "facing_yaw_deg": -119.99999777353973,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [
+    {
+     "name": "light_1",
+     "kind": "light",
+     "type": "dome",
+     "pose": {
+      "pos": [
+       0.0,
+       0.0,
+       0.0
+      ],
+      "ori": [
+       0.0,
+       0.0,
+       0.0
+      ]
+     },
+     "role": "ambient",
+     "intensity": 890.720887546989,
+     "brightness": "dim",
+     "color_temperature": 6500.0,
+     "warmth": "cool",
+     "color": "white",
+     "direction": "from the back-left"
+    }
+   ],
+   "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 Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown rack a0. There are a large gray table a, a large gray table b, a small tray, a large brown rack a0 and a small cradle. The gray table a is in front of the brown rack a0. The gray table b is to the left of the cradle. The tray is on top of the brown rack a0. The tray is to the left of the brown rack a0. The brown rack a0 is to the right of the tray. The cradle is on top of the gray table b. The cradle is to the right of the gray table b. The scene is lit by a cool light from the back-left. The scene is viewed from back-left, slightly above table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                        [robot]\n\n\n\n\n\n\n[[cradle]\n                      [rack a0]"
+  },
+  "task": {
+   "task_type": "TiltMaze",
+   "instruction": "Go to the rack, pick up the tray with the water in it, carry it to the work table, set it on the holder, and tilt it so the water flows around the barrier into the collecting pocket.",
+   "template_id": -1,
+   "slots": {
+    "obj": -3.141592653589793,
+    "support": null
+   },
+   "generic_instruction": "Tiltmaze the -3.141592653589793.",
+   "task_id": "N015",
+   "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
+}
\ No newline at end of file
diff --git a/N015/stretch3/dr_on/seed_2044/tiltmaze/000/lerobot_v21/meta/info.json b/N015/stretch3/dr_on/seed_2044/tiltmaze/000/lerobot_v21/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc370deec7db5098d91db2f719ae4e04eb046e8d
--- /dev/null
+++ b/N015/stretch3/dr_on/seed_2044/tiltmaze/000/lerobot_v21/meta/info.json
@@ -0,0 +1,2489 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "HelloRobotCfg",
+    "total_episodes": 1,
+    "total_frames": 3600,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                11
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "arm_action_0",
+                "arm_action_1",
+                "arm_action_2",
+                "arm_action_3",
+                "arm_action_4",
+                "arm_action_5",
+                "arm_action_6",
+                "gripper"
+            ]
+        },
+        "action_is_hold": {
+            "dtype": "bool",
+            "shape": [
+                11
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "joint_lift",
+                "joint_head_pan",
+                "joint_head_tilt",
+                "joint_arm_l3",
+                "joint_arm_l2",
+                "joint_arm_l1",
+                "joint_arm_l0",
+                "joint_wrist_yaw",
+                "joint_wrist_pitch",
+                "joint_wrist_roll",
+                "joint_gripper_finger_left",
+                "joint_gripper_finger_right"
+            ]
+        },
+        "observation.joint_vel": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "joint_lift",
+                "joint_head_pan",
+                "joint_head_tilt",
+                "joint_arm_l3",
+                "joint_arm_l2",
+                "joint_arm_l1",
+                "joint_arm_l0",
+                "joint_wrist_yaw",
+                "joint_wrist_pitch",
+                "joint_wrist_roll",
+                "joint_gripper_finger_left",
+                "joint_gripper_finger_right"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
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+            "names": null
+        },
+        "observation.environment_state": {
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+                2240
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+            "names": [
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+                "object_pose.cradle.1",
+                "object_pose.cradle.2",
+                "object_pose.cradle.3",
+                "object_pose.cradle.4",
+                "object_pose.cradle.5",
+                "object_pose.cradle.6",
+                "object_pose.rack_a0.0",
+                "object_pose.rack_a0.1",
+                "object_pose.rack_a0.2",
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+                "object_pose.rack_a0.4",
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+                "object_pose.table_a.2",
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+                "object_pose.table_a.4",
+                "object_pose.table_a.5",
+                "object_pose.table_a.6",
+                "object_pose.table_b.0",
+                "object_pose.table_b.1",
+                "object_pose.table_b.2",
+                "object_pose.table_b.3",
+                "object_pose.table_b.4",
+                "object_pose.table_b.5",
+                "object_pose.table_b.6",
+                "object_pose.tray.0",
+                "object_pose.tray.1",
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+            ]
+        },
+        "action.command": {
+            "dtype": "float32",
+            "shape": [
+                736
+            ],
+            "names": null
+        },
+        "action.applied": {
+            "dtype": "float32",
+            "shape": [
+                13
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+            "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
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+            "names": null
+        },
+        "episode_index": {
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+            "shape": [
+                1
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+            "names": null
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+        "index": {
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+            "shape": [
+                1
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+            "names": null
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+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+        "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
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/N015/stretch3/dr_on/seed_2044/tiltmaze/000/lerobot_v21/meta/magicsim_manifest.json b/N015/stretch3/dr_on/seed_2044/tiltmaze/000/lerobot_v21/meta/magicsim_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3900588fd59a97fce65f820165a405d66c81b70
--- /dev/null
+++ b/N015/stretch3/dr_on/seed_2044/tiltmaze/000/lerobot_v21/meta/magicsim_manifest.json
@@ -0,0 +1,259 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 00:18:07"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "HelloRobot",
+                "cfg": "HelloRobotCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "HelloRobot.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HelloRobotBaseAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "HelloRobot.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "arm_action_0",
+                    "arm_action_1",
+                    "arm_action_2",
+                    "arm_action_3",
+                    "arm_action_4",
+                    "arm_action_5",
+                    "arm_action_6"
+                ],
+                "source": "HelloRobotIKAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "HelloRobot.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_pos",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_vel",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "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": [
+                    [
+                        811.3606627541883,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        811.3606388722814,
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+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 43.048473468183616,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
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+                -0.002942000050097704,
+                1.2957229614257812
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+            "quat": [
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+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
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+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        426.9178503597538,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 73.70742419505024,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
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+            ],
+            "quat": [
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+                1.7244702803509426e-06,
+                0.9961962699890137,
+                0.08713743835687637
+            ]
+        }
+    },
+    "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": "tiltmaze/000",
+        "task_type": "TiltMaze"
+    }
+}
\ No newline at end of file
diff --git a/N015/stretch3/dr_on/seed_2044/tiltmaze/000/lerobot_v21/meta/stats.json b/N015/stretch3/dr_on/seed_2044/tiltmaze/000/lerobot_v21/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ceb969f82a5e56b7df35d0b343fabb51df938db
--- /dev/null
+++ b/N015/stretch3/dr_on/seed_2044/tiltmaze/000/lerobot_v21/meta/stats.json
@@ -0,0 +1,12597 @@
+{
+    "action": {
+        "mean": [
+            -0.0071060603591225424,
+            2.7379861179118354e-06,
+            0.025405432752644022,
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+            1.3250175312409798,
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+            0.2436342963327964,
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diff --git a/N015/stretch3/dr_on/seed_2044/tiltmaze/000/lerobot_v21/meta/tasks.jsonl b/N015/stretch3/dr_on/seed_2044/tiltmaze/000/lerobot_v21/meta/tasks.jsonl
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--- /dev/null
+++ b/N015/stretch3/dr_on/seed_2044/tiltmaze/000/lerobot_v21/meta/tasks.jsonl
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diff --git a/N015/stretch3/dr_on/seed_2044/tiltmaze/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N015/stretch3/dr_on/seed_2044/tiltmaze/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4
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diff --git a/N015/stretch3/dr_on/seed_2044/tiltmaze/000/run_meta.json b/N015/stretch3/dr_on/seed_2044/tiltmaze/000/run_meta.json
new file mode 100644
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+                                0.0
+                            ],
+                            "scale": [
+                                0.7,
+                                1.0,
+                                0.55
+                            ],
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    [
+                                        0.35,
+                                        0.37,
+                                        0.4
+                                    ]
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true,
+                                "physics_material": {
+                                    "static_friction": 0.737417156191618,
+                                    "dynamic_friction": 0.5530628671437134,
+                                    "restitution": 0.0
+                                }
+                            }
+                        }
+                    },
+                    "tray": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/MMB/Tray/Object.usda"
+                        ],
+                        "num_per_env": 1,
+                        "random": false,
+                        "tray_1": {
+                            "pos": [
+                                -1.0099662525566233,
+                                3.1196621182950723,
+                                0.7210000000000001
+                            ],
+                            "ori": [
+                                0.0,
+                                0.0,
+                                86.98523722828621
+                            ],
+                            "physics": {
+                                "type": "rigid",
+                                "mass": 0.08769749051213122,
+                                "physics_material": {
+                                    "static_friction": 1.7218752883404207,
+                                    "dynamic_friction": 1.506640877297868,
+                                    "restitution": 0.0
+                                }
+                            },
+                            "water": {}
+                        }
+                    },
+                    "rack_a0": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "num_per_env": 1,
+                        "random": false,
+                        "rack_a0_1": {
+                            "pos": [
+                                -1.0,
+                                3.2835,
+                                0.6240000000000001
+                            ],
+                            "ori": [
+                                0.0,
+                                0.0,
+                                0.0
+                            ],
+                            "scale": [
+                                0.1,
+                                0.173,
+                                0.08799999999999997
+                            ],
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    [
+                                        0.45,
+                                        0.3,
+                                        0.18
+                                    ]
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true,
+                                "physics_material": {
+                                    "static_friction": 0.8170734018208997,
+                                    "dynamic_friction": 0.6128050513656748,
+                                    "restitution": 0.0
+                                }
+                            }
+                        }
+                    },
+                    "cradle": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/MMB/Cradle/Object.usda"
+                        ],
+                        "num_per_env": 1,
+                        "random": false,
+                        "cradle_1": {
+                            "pos": [
+                                2.449,
+                                0.4,
+                                0.5800000000000001
+                            ],
+                            "ori": [
+                                0.0,
+                                0.0,
+                                0.0
+                            ],
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true,
+                                "physics_material": {
+                                    "static_friction": 0.8514645639740106,
+                                    "dynamic_friction": 0.638598422980508,
+                                    "restitution": 0.0
+                                }
+                            }
+                        }
+                    }
+                }
+            },
+            "nav": {
+                "navmesh": {
+                    "enabled": true,
+                    "visualize": false,
+                    "bake_timeout_s": 120,
+                    "agent_height_cm": 170,
+                    "min_agent_radius_cm": 55.0,
+                    "max_agent_radius_cm": 55.0,
+                    "max_step_height_cm": 20,
+                    "max_floor_slope_deg": 30,
+                    "agent_island_radius_cm": 5,
+                    "auto_exclude_rigid_bodies": true,
+                    "validate_path_clearance": true,
+                    "validate_path_window": true,
+                    "navmesh_offset_z_m": 0,
+                    "verbose": true
+                },
+                "occupancymap": {
+                    "cell_size": 0.05
+                }
+            }
+        },
+        "task": {
+            "observation": {},
+            "reward": {},
+            "termination": {
+                "timeout_steps": 24000,
+                "success_hold_frames": 1
+            },
+            "mmb": {
+                "task_id": "N015",
+                "agent_id": "a03",
+                "embodiment": "stretch3",
+                "level": "easy",
+                "scene_seed": 2044,
+                "layout": {
+                    "S": [
+                        -3.064064094479676,
+                        -1.8529309135609286,
+                        -2.0943951023931957
+                    ],
+                    "tables": {
+                        "A": {
+                            "center": [
+                                -1.0,
+                                3.2
+                            ],
+                            "size": [
+                                0.9,
+                                0.6
+                            ],
+                            "top": 0.5800000000000001,
+                            "color": [
+                                0.35,
+                                0.37,
+                                0.4
+                            ]
+                        },
+                        "B": {
+                            "center": [
+                                2.6,
+                                0.4
+                            ],
+                            "size": [
+                                0.7,
+                                1.0
+                            ],
+                            "top": 0.5800000000000001,
+                            "color": [
+                                0.35,
+                                0.37,
+                                0.4
+                            ]
+                        }
+                    },
+                    "stations": {
+                        "A": {
+                            "table": "A",
+                            "work_point": [
+                                -1.0,
+                                3.12
+                            ],
+                            "arm_dir": [
+                                0.0,
+                                1.0
+                            ],
+                            "reach": 0.74,
+                            "fwd": -0.021,
+                            "stand": [
+                                -1.021,
+                                2.38,
+                                -3.141592653589793
+                            ]
+                        },
+                        "B": {
+                            "table": "B",
+                            "work_point": [
+                                2.34,
+                                0.4
+                            ],
+                            "arm_dir": [
+                                1.0,
+                                0.0
+                            ],
+                            "reach": 0.5900000000000001,
+                            "fwd": -0.021,
+                            "stand": [
+                                1.7499999999999998,
+                                0.42100000000000004,
+                                1.5707963267948966
+                            ]
+                        }
+                    }
+                },
+                "hold_ticks": 40,
+                "grace_ticks": 300,
+                "water_settle_ticks": 160,
+                "object_settle_ticks": 60,
+                "planning": {
+                    "avoid": [
+                        "dynamic"
+                    ],
+                    "ignore": [
+                        "tray",
+                        "water"
+                    ]
+                },
+                "water": {
+                    "max_particles": 1600,
+                    "fluid_rest_offset": 0.0018
+                },
+                "cradle": {
+                    "center": [
+                        2.449,
+                        0.4
+                    ],
+                    "top_z": 0.6500000000000001,
+                    "far_edge_x": 2.549,
+                    "size": [
+                        0.2,
+                        0.12,
+                        0.07
+                    ]
+                },
+                "start": {
+                    "ml": 24.0,
+                    "blob_shift_x": 0.0
+                },
+                "success": {
+                    "min_pocket_ml": 14.0,
+                    "max_start_ml": 7.0,
+                    "min_start_at_cradle_frac": 0.8,
+                    "max_spill_ml": 3.0,
+                    "min_carry_frac": 0.9,
+                    "max_over_top_ticks": 6,
+                    "max_end_tilt_deg": 4.0
+                },
+                "tool": {
+                    "category": "tray",
+                    "asset": "Tray",
+                    "plate_z": 0.7200000000000001
+                },
+                "view": {
+                    "eye": [
+                        2.999,
+                        -0.09999999999999998,
+                        1.0
+                    ],
+                    "target": [
+                        2.449,
+                        0.4,
+                        0.6800000000000002
+                    ]
+                },
+                "dr": {
+                    "seed": 2044,
+                    "spawn_dxy": [
+                        -0.064,
+                        -0.053
+                    ],
+                    "friction_scale": {
+                        "cradle_1": 1.064,
+                        "rack_a0_1": 1.021,
+                        "table_a_1": 0.948,
+                        "table_b_1": 0.922,
+                        "tray_1": 1.076
+                    },
+                    "moved": {
+                        "tray_1": [
+                            -0.01,
+                            -0.0003,
+                            -3.01
+                        ]
+                    },
+                    "light_scale": 0.99
+                }
+            },
+            "command": {
+                "TiltMaze": {
+                    "stage_retries": 2,
+                    "robot_id": 0,
+                    "init_limit": 30,
+                    "max_attempt": 1,
+                    "completion_timeout_steps": 4000,
+                    "pre_back": 0.12,
+                    "lift": 0.08,
+                    "lift_slip_deg": 12.0,
+                    "carry": {
+                        "lateral": 0.55,
+                        "forward": 0.0,
+                        "z": 0.88,
+                        "pitch_up_deg": 16.0
+                    },
+                    "place": {
+                        "above": 0.06,
+                        "contact_gap": 0.002,
+                        "pre_pitch_up_deg": 5.0
+                    },
+                    "tilt": {
+                        "deg": [
+                            5.0,
+                            9.0,
+                            13.0
+                        ],
+                        "hold_ticks": 300,
+                        "back_deg": [
+                            8.0,
+                            4.0,
+                            0.0
+                        ]
+                    },
+                    "modes": {
+                        "pre_grasp": -1,
+                        "grasp": 4,
+                        "lift": 4,
+                        "carry": -1,
+                        "trim": 4,
+                        "pre_place": -1,
+                        "place": 4,
+                        "tilt": 4,
+                        "release": 4,
+                        "retreat": 4
+                    }
+                }
+            }
+        },
+        "collect": {
+            "command": {
+                "TiltMaze": {
+                    "stage_retries": 2,
+                    "robot_id": 0,
+                    "init_limit": 30,
+                    "max_attempt": 1,
+                    "completion_timeout_steps": 4000,
+                    "pre_back": 0.12,
+                    "lift": 0.08,
+                    "lift_slip_deg": 12.0,
+                    "carry": {
+                        "lateral": 0.55,
+                        "forward": 0.0,
+                        "z": 0.88,
+                        "pitch_up_deg": 16.0
+                    },
+                    "place": {
+                        "above": 0.06,
+                        "contact_gap": 0.002,
+                        "pre_pitch_up_deg": 5.0
+                    },
+                    "tilt": {
+                        "deg": [
+                            5.0,
+                            9.0,
+                            13.0
+                        ],
+                        "hold_ticks": 300,
+                        "back_deg": [
+                            8.0,
+                            4.0,
+                            0.0
+                        ]
+                    },
+                    "modes": {
+                        "pre_grasp": -1,
+                        "grasp": 4,
+                        "lift": 4,
+                        "carry": -1,
+                        "trim": 4,
+                        "pre_place": -1,
+                        "place": 4,
+                        "tilt": 4,
+                        "release": 4,
+                        "retreat": 4
+                    }
+                }
+            },
+            "global_planner": {
+                "NavTo": {
+                    "use_navmesh": true,
+                    "use_absolute": true,
+                    "translation_threshold": 0.15,
+                    "rotation_threshold": 3.3,
+                    "num_path_segments": 30,
+                    "start_forward_offset": 0.0,
+                    "visualize_path": false,
+                    "carry_arm": true
+                },
+                "NavToTrim": {
+                    "use_navmesh": false,
+                    "carry_arm": true,
+                    "visualize_path": false,
+                    "trim_pos_threshold": 0.01,
+                    "trim_yaw_threshold": 0.015,
+                    "max_steps": 1500
+                },
+                "MobileMoveL": {
+                    "translation_threshold": 0.008,
+                    "rotation_threshold": 0.08,
+                    "stall_release_ticks": 80,
+                    "stall_release_factor": 2.5,
+                    "motiongen_distance_threshold": 0.0,
+                    "timeout_steps": 900,
+                    "debug": false,
+                    "debug_viz": false,
+                    "debug_sphere": false,
+                    "reactive": false,
+                    "base_pos_threshold": 0.025,
+                    "base_rot_threshold": 0.05,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.1,
+                    "waypoint_max_steps": 30,
+                    "interp_steps": 120
+                },
+                "ParallelGripper": {
+                    "gripper_threshold": 0.001
+                }
+            },
+            "atomic_skill": {
+                "NavToPose": {
+                    "robot_id": 0,
+                    "position_threshold": 0.15,
+                    "angle_threshold": 3.3,
+                    "trim": true
+                },
+                "Move": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "arm_planner": "MobileMoveL",
+                    "hand_planner": "ParallelGripper",
+                    "ramp_steps": 0,
+                    "hold_steps": 60,
+                    "open_value": 0.0,
+                    "close_value": 1.0
+                }
+            },
+            "auto_collect": {
+                "task_type": "tiltmaze",
+                "max_trajectories": 1
+            },
+            "record": {
+                "output_dir": "/mnt/scratch/xc536_atomic/n015_str_on_2044/out",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            }
+        },
+        "visual_dr": {
+            "keep": [
+                "Water"
+            ]
+        }
+    },
+    "git_sha": null,
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}
\ No newline at end of file
diff --git a/N015/stretch3/dr_on/seed_2044/tiltmaze/000/sim_info/0/actions.npz b/N015/stretch3/dr_on/seed_2044/tiltmaze/000/sim_info/0/actions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b21e3bba8495763642a5aae7563d65f090466011
--- /dev/null
+++ b/N015/stretch3/dr_on/seed_2044/tiltmaze/000/sim_info/0/actions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c767b2b71e13b72592d31f6ffca1db2a9ca7bac068c5dc51a1103922b7be2ba
+size 878672
diff --git a/N015/stretch3/dr_on/seed_2044/tiltmaze/000/sim_info/0/device_commands.jsonl b/N015/stretch3/dr_on/seed_2044/tiltmaze/000/sim_info/0/device_commands.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/N015/stretch3/dr_on/seed_2044/tiltmaze/000/sim_info/0/device_events.jsonl b/N015/stretch3/dr_on/seed_2044/tiltmaze/000/sim_info/0/device_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/N015/stretch3/dr_on/seed_2044/tiltmaze/000/sim_info/0/scene_snapshot.json b/N015/stretch3/dr_on/seed_2044/tiltmaze/000/sim_info/0/scene_snapshot.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd1c0f6d65cb2f1adee3af679bf206b17fb3f150
--- /dev/null
+++ b/N015/stretch3/dr_on/seed_2044/tiltmaze/000/sim_info/0/scene_snapshot.json
@@ -0,0 +1,9998 @@
+{
+    "trajectory_id": 0,
+    "env_id": 0,
+    "run_id": "tiltmaze/000",
+    "task_type": "TiltMaze",
+    "success": true,
+    "timing": {
+        "fps": 50.0,
+        "sim_dt": 0.005,
+        "decimation": 4
+    },
+    "restore_interface": {
+        "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
+    },
+    "snapshot": {
+        "env_id": 0,
+        "scene": {
+            "objects": [
+                {
+                    "table_a": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    -1.0,
+                                    3.2,
+                                    0.30500000000000005
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.9,
+                                    0.6,
+                                    0.55
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.35,
+                                        0.37,
+                                        0.4
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 0.7582516806681563,
+                                        "dynamic_friction": 0.5686887605011172,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "table_b": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    2.6,
+                                    0.4,
+                                    0.30500000000000005
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.7,
+                                    1.0,
+                                    0.55
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.35,
+                                        0.37,
+                                        0.4
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 0.737417156191618,
+                                        "dynamic_friction": 0.5530628671437134,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "tray": [
+                        {
+                            "asset": "/mnt/scratch/xc536_atomic_local/repo_b3820fd82/Assets/Object/MMB/Tray/Object.usda",
+                            "pose": {
+                                "pos": [
+                                    -1.009966492652893,
+                                    3.119662046432495,
+                                    0.7199999094009399
+                                ],
+                                "ori": [
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+                                    -6.407499313354492e-07,
+                                    -1.337035428150557e-06,
+                                    0.6882611513137817
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "rigid",
+                                    "mass": 0.08769749051213122,
+                                    "physics_material": {
+                                        "static_friction": 1.7218752883404207,
+                                        "dynamic_friction": 1.506640877297868,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "linear_velocity": [
+                                    -0.0005163989262655377,
+                                    -5.66071284993086e-05,
+                                    -6.856954860268161e-05
+                                ],
+                                "angular_velocity": [
+                                    0.0001818164309952408,
+                                    -0.006977874785661697,
+                                    -0.000688218220602721
+                                ]
+                            }
+                        }
+                    ],
+                    "rack_a0": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    -1.0,
+                                    3.2835,
+                                    0.6240000000000001
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.1,
+                                    0.173,
+                                    0.08799999999999997
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.45,
+                                        0.3,
+                                        0.18
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 0.8170734018208997,
+                                        "dynamic_friction": 0.6128050513656748,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "cradle": [
+                        {
+                            "asset": "/mnt/scratch/xc536_atomic_local/repo_b3820fd82/Assets/Object/MMB/Cradle/Object.usda",
+                            "pose": {
+                                "pos": [
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+                ]
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/N015/stretch3/dr_on/seed_2044/tiltmaze/000/sim_info/0/sim_states.npz b/N015/stretch3/dr_on/seed_2044/tiltmaze/000/sim_info/0/sim_states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..797b3b08784c925c38fd8bc09d5b1001154d6a6a
--- /dev/null
+++ b/N015/stretch3/dr_on/seed_2044/tiltmaze/000/sim_info/0/sim_states.npz
@@ -0,0 +1,3 @@
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+size 47176973
diff --git a/N015/stretch3/dr_on/seed_2044/tiltmaze/000/sim_info/magicsim_manifest.json b/N015/stretch3/dr_on/seed_2044/tiltmaze/000/sim_info/magicsim_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..36795ab2193510c88a1312b5d6b103d5c0297e0c
--- /dev/null
+++ b/N015/stretch3/dr_on/seed_2044/tiltmaze/000/sim_info/magicsim_manifest.json
@@ -0,0 +1,228 @@
+{
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+        "time": "2026-11-10 00:18:43"
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+            {
+                "name": "HelloRobot",
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+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
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+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
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+        "nan_policy": "from_raw",
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+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
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+                "names_source": "_joint_names"
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+                "end": 10,
+                "names": [
+                    "arm_action_0",
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+                    "arm_action_2",
+                    "arm_action_3",
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+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
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+                "source": "ObservationManager",
+                "names_source": "joint_names"
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+        "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)"
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+    "cameras": {
+        "head": {
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+    }
+}
\ No newline at end of file
diff --git a/N015/stretch3/dr_on/seed_2044/tiltmaze/000/visual_dr.json b/N015/stretch3/dr_on/seed_2044/tiltmaze/000/visual_dr.json
new file mode 100644
index 0000000000000000000000000000000000000000..908076b3f55f9f10b5df60da62f73ec1d6bb5aa3
--- /dev/null
+++ b/N015/stretch3/dr_on/seed_2044/tiltmaze/000/visual_dr.json
@@ -0,0 +1,717 @@
+{
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+  "material_library": "$MAGICSIM_ASSETS/Material"
+ },
+ "episodes": [
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+    0
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+   "episode_seed": 2044,
+   "seeds": {
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+   "lights": [
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+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
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+   ],
+   "display_colors": [],
+   "swapped": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor",
+     "role": "ground",
+     "mdl": "Source/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl",
+     "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway",
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+     "pool_size": 42,
+     "bind_failed": 0
+    },
+    {
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+     "role": "wall",
+     "mdl": "Source/Masonry/Facade_Brick_Grey.mdl",
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+     "mdl": "Source/Concrete/Spongy_Concrete_Weathered_Mossy.mdl",
+     "material": "/MmbVdrLooks/Source_Concrete_Spongy_Concrete_Weathered_Mossy",
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+     "bind_failed": 0
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+    "examples": [
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+      "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collision/node_STL_BINARY_/mesh",
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+      "rigid_body"
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+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g6",
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+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g7",
+      "rigid_body"
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+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g8",
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+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g9",
+      "rigid_body"
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+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g10",
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+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g12",
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+      "/World/envs/env_0/Robot_0/link_head_pan/collisions/link_head_pan_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
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+     [
+      "/World/envs/env_0/Robot_0/link_head_pan/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head_pan/visuals_menagerie/g2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head_tilt/collisions/link_head_tilt_collision/node_STL_BINARY_/mesh",
+      "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": 2044,
+   "seeds": {
+    "0": 2044
+   },
+   "lights": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
+     "type": "RectLight",
+     "intensity": 10776.752888,
+     "intensity_base": 15000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 6402.326989,
+     "rotate_deg": [
+      0.767,
+      2.374,
+      4.045
+     ]
+    }
+   ],
+   "domes": [
+    {
+     "path": "/World/background",
+     "type": "DomeLight",
+     "intensity": 653.513143,
+     "intensity_base": 1000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 6545.749708,
+     "rotate_deg": [
+      0.0,
+      0.0,
+      326.619
+     ],
+     "dome": {
+      "path": "/World/background",
+      "hdr_base": null,
+      "color": [
+       0.774265,
+       0.78863,
+       0.719865
+      ]
+     }
+    },
+    {
+     "path": "/World/envs/env_0/Light/light_light_1",
+     "type": "DomeLight",
+     "intensity": 1329.170786,
+     "intensity_base": 890.7209,
+     "enable_color_temperature": true,
+     "color_temperature_k": 4680.546595,
+     "rotate_deg": [
+      0.0,
+      0.0,
+      145.167
+     ],
+     "dome": {
+      "path": "/World/envs/env_0/Light/light_light_1",
+      "hdr_base": null,
+      "hdr": "/mnt/scratch/xc536_atomic_local/repo_b3820fd82/Assets/Background/qwantani_4k.hdr",
+      "color": [
+       0.9036,
+       0.7879,
+       0.9099
+      ]
+     }
+    }
+   ],
+   "materials": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "shader": "omnipbr",
+     "color": [
+      0.6218,
+      0.7682,
+      0.7227
+     ],
+     "color_base": [
+      1.0,
+      1.0,
+      1.0
+     ],
+     "roughness": 0.440926,
+     "roughness_base": 0.5,
+     "bound_prims": 1
+    }
+   ],
+   "display_colors": [],
+   "swapped": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor",
+     "role": "ground",
+     "mdl": "Source/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl",
+     "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway",
+     "bound_prims": 1,
+     "pool_size": 42,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic",
+     "role": "wall",
+     "mdl": "Source/Masonry/Facade_Brick_Grey.mdl",
+     "material": "/MmbVdrLooks/Source_Masonry_Facade_Brick_Grey",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Stone/Devil_Black.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Devil_Black",
+     "bound_prims": 22,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
+     "role": "wall",
+     "mdl": "Source/Concrete/Spongy_Concrete_Weathered_Mossy.mdl",
+     "material": "/MmbVdrLooks/Source_Concrete_Spongy_Concrete_Weathered_Mossy",
+     "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": {
+    "Water": 2
+   },
+   "physics_skip": {
+    "physics_binding": 13,
+    "rigid_body": 113,
+    "examples": [
+     [
+      "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g3",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g4",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g5",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g6",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g7",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g8",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/caster_link/visuals/omni_wheel_m/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/caster_link/collisions/mesh_0/sphere",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_aruco_left_base/collisions/link_aruco_left_base/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_aruco_left_base/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_aruco_right_base/collisions/link_aruco_right_base/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_aruco_right_base/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_imu/collisions/base_imu/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/laser/collisions/laser_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/laser/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_left_wheel/collisions/link_left_wheel_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_left_wheel/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_left_wheel/visuals_menagerie/g2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_mast/collisions/link_mast_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_mast/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/collisions/link_head_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g3",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g4",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g5",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g6",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g7",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g8",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g9",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g10",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g11",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g12",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head_pan/collisions/link_head_pan_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head_pan/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head_pan/visuals_menagerie/g2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head_tilt/collisions/link_head_tilt_collision/node_STL_BINARY_/mesh",
+      "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
+    }
+   ]
+  }
+ ]
+}
\ No newline at end of file
diff --git a/N023/sawyer_umi/dr_off/seed_1029/check.json b/N023/sawyer_umi/dr_off/seed_1029/check.json
new file mode 100644
index 0000000000000000000000000000000000000000..5cfe65f257ed3eef9696f6613a466548e287572e
--- /dev/null
+++ b/N023/sawyer_umi/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', '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 pen, pull the cap off its tip, and push the cap onto the other end of the pen.'; expected 'Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "892 rows vs ceil(1784/2) = 892"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 31..1813, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "8.51 MB, 892 frames at 25 fps, mean luma 117..140, std 40, new picture 891x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "892 vs 892"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "14.36 MB, 892 frames at 25 fps, mean luma 114..166, std 41, new picture 891x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "892 vs 892"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stationassembly/000/sim_info"
+  }
+ }
+}
\ No newline at end of file
diff --git a/N023/sawyer_umi/dr_off/seed_1029/check.txt b/N023/sawyer_umi/dr_off/seed_1029/check.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e628893ee875ddcdef10aa42c8971b7120e58d5d
--- /dev/null
+++ b/N023/sawyer_umi/dr_off/seed_1029/check.txt
@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n023_saw_off_1029/out  task=N023  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n023_saw_off_1029/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 892  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: 892 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 pen, pull the cap off its tip, and push the cap onto the other end of the pen.'; expected 'Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.'
+rows 892 at dataset fps 25 = 35.68 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 892 rows vs ceil(1784/2) = 892
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..1813, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 8.51 MB, 892 frames at 25 fps, mean luma 117..140, std 40, new picture 891x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 892 vs 892
+[PASS] video observation.images.wrist decodes, 640x480, not black: 14.36 MB, 892 frames at 25 fps, mean luma 114..166, std 41, new picture 891x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 892 vs 892
+parquet size 1.03 MB
+[PASS] sim_info present: stationassembly/000/sim_info
+dataset size 24.05 MB; whole cell dir 24.6 MB
+RESULT: ALL PASS
diff --git a/N023/sawyer_umi/dr_off/seed_1029/report.json b/N023/sawyer_umi/dr_off/seed_1029/report.json
new file mode 100644
index 0000000000000000000000000000000000000000..afd1944bd527d6768dee626e2f23d337b6d85689
--- /dev/null
+++ b/N023/sawyer_umi/dr_off/seed_1029/report.json
@@ -0,0 +1,1289 @@
+{
+  "task": "N023",
+  "agent_id": null,
+  "embodiment": "sawyer_umi",
+  "level": "easy",
+  "scene_seed": 1029,
+  "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)",
+  "config": "/mnt/scratch/xc536_atomic_local/repo_b3820fd82/src/magicsim/Collect/Task/MobileAssembly/Conf/n023_pen_cap.yaml",
+  "full_success": true,
+  "failure_reason": null,
+  "dr": {
+    "seed": 1029,
+    "pen_cap": {
+      "dx": -0.01323,
+      "dy": 0.09421,
+      "yaw_deg": -1.31009
+    },
+    "cap_mass": 0.01733,
+    "light": 833.57925,
+    "spawn": {
+      "dx": -0.00306,
+      "dy": -0.07085,
+      "yaw_deg": -7.4387
+    },
+    "overrides": {
+      "env.scene.objects.pen_holder.common.pos": [
+        -2.01323,
+        1.44421,
+        0.48
+      ],
+      "env.scene.objects.pen_holder.common.ori": [
+        0.0,
+        0.0,
+        -1.31009
+      ],
+      "env.scene.objects.cap.common.pos": [
+        -2.09871,
+        1.44617,
+        0.48
+      ],
+      "env.scene.objects.cap.common.ori": [
+        0.0,
+        0.0,
+        -1.31009
+      ],
+      "env.scene.objects.cap.cap_1.physics.mass": 0.01733,
+      "env.scene.background.intensity": [
+        833.57925,
+        833.57925
+      ],
+      "env.robot.RidgebackSawyerUmi.common.pos": [
+        [
+          -3.60306,
+          -2.57085,
+          0.06
+        ],
+        [
+          -3.60306,
+          -2.57085,
+          0.06
+        ]
+      ],
+      "env.robot.RidgebackSawyerUmi.common.ori": [
+        [
+          0,
+          0,
+          52.5613
+        ],
+        [
+          0,
+          0,
+          52.5613
+        ]
+      ]
+    }
+  },
+  "planner_seeds": {
+    "label": "lean",
+    "num_trajopt_seeds": 1,
+    "num_ik_seeds": 4,
+    "max_attempts": 6
+  },
+  "collect": {
+    "task": "N023",
+    "robot": "sawyer_umi",
+    "visual_dr": false,
+    "env": {
+      "MMB_COLLECT": "1",
+      "MMB_TASK_ID": "N023",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "0"
+    },
+    "cameras": {
+      "head": {
+        "link": "Robot_0/head",
+        "pos": [
+          0.2166,
+          0.0,
+          -0.045
+        ],
+        "ori": [
+          -0.0,
+          35.0,
+          -90.0
+        ],
+        "focal_length": 2.0,
+        "horizontal_aperture": 3.6,
+        "vertical_aperture": 2.7
+      },
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+      "event": "release_start"
+    },
+    {
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+      "event": "leave_start"
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+  "station_transition_order": [
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+  "interstation_path_lengths": {
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+    "S->A": 0.503
+  },
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+  "distance_to_first_interaction": 3.465,
+  "regrasp_events": 0,
+  "violations": [],
+  "end_state": {
+    "ok": true,
+    "seat_dx_mm": 0.07,
+    "lateral_mm": 1.09,
+    "axis_deg": 0.17,
+    "nib_exposed": true
+  },
+  "manipulation_success": true,
+  "mobile_success": true,
+  "transport_state": {
+    "picked": true,
+    "released": true
+  },
+  "command_state": null,
+  "elapsed_s": 528.8
+}
diff --git a/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/completed/0.json b/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/completed/0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1db0234d1d09a173dbe0f48b261236e22fe34f76
--- /dev/null
+++ b/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/completed/0.json
@@ -0,0 +1 @@
+{"run_id": "stationassembly/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null}
\ No newline at end of file
diff --git a/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet
new file mode 100644
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+++ b/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
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+size 1025533
diff --git a/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/lerobot_v21/meta/episodes.jsonl b/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/lerobot_v21/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0feb2ecf9982e8a2a0767ee4d67dbed37d08cd19
--- /dev/null
+++ b/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/lerobot_v21/meta/episodes.jsonl
@@ -0,0 +1 @@
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diff --git a/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl b/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..daaf9403f08144c5a19185caa0975047a588e623
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diff --git a/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json b/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..eccb554ad8327803284c8fdb03c0b8f48e7e08f2
--- /dev/null
+++ b/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json
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+        1.0,
+        -1.4782795217992896e-16
+       ],
+       [
+        1.0,
+        0.0,
+        2.5363269588459423e-17
+       ],
+       [
+        2.5363269588459423e-17,
+        -1.4782795217992896e-16,
+        -1.0
+       ]
+      ],
+      "t": [
+       4.4348384662715026e-18,
+       -0.05979999899864197,
+       0.029999999329447746
+      ]
+     }
+    }
+   ],
+   "robots": [
+    {
+     "name": "RidgebackSawyerUmi",
+     "model": "ridgebacksawyer_umi",
+     "type": "mobilemanip",
+     "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
+       -3.60306,
+       -2.57085,
+       0.06
+      ],
+      "ori": [
+       0.8966360092163086,
+       0.0,
+       0.0,
+       0.442768394947052
+      ]
+     },
+     "facing_yaw_deg": 52.5612986954618,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 833.57925,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table A. There are a large gray table A, a small pen holder and a small cap. The gray table A is in front of the pen holder. The pen holder is to the right of the cap. The cap is to the left of the pen holder. The scene is viewed from front, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n[cap]n holder]\n\n\n\n\n\n\n\n                        [robot]"
+  },
+  "task": {
+   "task_type": "StationAssembly",
+   "instruction": "Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Stationassembly the 1.5707963267948966.",
+   "task_id": "N023",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {
+   "frame_0650": {
+    "frame_idx": 650,
+    "caption": "Computing a grasp pose for the small cap; the right gripper is below and to the left of and in front of the cap.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0658": {
+    "frame_idx": 658,
+    "caption": "Working on the small cap; the right gripper is below and to the left of and in front of the cap.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0742": {
+    "frame_idx": 742,
+    "caption": "Working on the small cap; the right gripper is below and in front of the cap.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_0813": {
+    "frame_idx": 813,
+    "caption": "Working on the small cap; the right gripper is below and to the right of and in front of the cap.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0960": {
+    "frame_idx": 960,
+    "caption": "Working on the small cap; the right gripper is below and to the right of the cap.",
+    "skill": "AssemblyGrasp",
+    "phase": "grasp",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of"
+    ]
+   },
+   "frame_1034": {
+    "frame_idx": 1034,
+    "caption": "Done — the small cap is grasped; the right gripper is below and to the right of the cap.",
+    "skill": "Grasp",
+    "phase": "completed",
+    "skill_state": "finished",
+    "planner": "ParallelGripper",
+    "planner_state": "finished",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of"
+    ]
+   },
+   "frame_1035": {
+    "frame_idx": 1035,
+    "caption": "Working on the small cap; the right gripper is below and to the right of the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:start",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of"
+    ]
+   },
+   "frame_1038": {
+    "frame_idx": 1038,
+    "caption": "Working on the small cap; the right gripper is below and to the right of and in front of the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:pull",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of",
+     "in_front_of"
+    ]
+   },
+   "frame_1165": {
+    "frame_idx": 1165,
+    "caption": "Working on the small cap; the right gripper is below and to the right of the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:turn",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of"
+    ]
+   },
+   "frame_1223": {
+    "frame_idx": 1223,
+    "caption": "Working on the small cap; the right gripper is below the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:turn",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1235": {
+    "frame_idx": 1235,
+    "caption": "Working on the small cap; the right gripper is below and behind the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:turn",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "behind"
+    ]
+   },
+   "frame_1327": {
+    "frame_idx": 1327,
+    "caption": "Working on the small cap; the right gripper is below the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:turn",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1400": {
+    "frame_idx": 1400,
+    "caption": "Working on the small cap; the right gripper is below and behind the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:over_tail",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "behind"
+    ]
+   },
+   "frame_1406": {
+    "frame_idx": 1406,
+    "caption": "Working on the small cap; the right gripper is below and to the left of and behind the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:over_tail",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "behind"
+    ]
+   }
+  }
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}
\ No newline at end of file
diff --git a/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/lerobot_v21/meta/info.json b/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/lerobot_v21/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..ae0705c89ae84b626b3be4b7e9bfbac0855edc6c
--- /dev/null
+++ b/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/lerobot_v21/meta/info.json
@@ -0,0 +1,268 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "RidgebackSawyerUmiCfg",
+    "total_episodes": 1,
+    "total_frames": 892,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                11
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "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": {
+            "dtype": "bool",
+            "shape": [
+                11
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "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",
+            "shape": [
+                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"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                21
+            ],
+            "names": [
+                "object_pose.cap.0",
+                "object_pose.cap.1",
+                "object_pose.cap.2",
+                "object_pose.cap.3",
+                "object_pose.cap.4",
+                "object_pose.cap.5",
+                "object_pose.cap.6",
+                "object_pose.pen_holder.0",
+                "object_pose.pen_holder.1",
+                "object_pose.pen_holder.2",
+                "object_pose.pen_holder.3",
+                "object_pose.pen_holder.4",
+                "object_pose.pen_holder.5",
+                "object_pose.pen_holder.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"
+            ]
+        },
+        "action.command": {
+            "dtype": "float32",
+            "shape": [
+                672
+            ],
+            "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
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json b/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc8910b9bd076717b47c889b29166bafe14b75bd
--- /dev/null
+++ b/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json
@@ -0,0 +1,264 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 00:15:58"
+    },
+    "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)"
+    },
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+    "lerobot": {
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+        "columns": [
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+            "action.command",
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+            "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": "stationassembly/000",
+        "task_type": "StationAssembly"
+    }
+}
\ No newline at end of file
diff --git a/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/lerobot_v21/meta/stats.json b/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/lerobot_v21/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..99048135e4e4ffc53b6ea50ba0d95839a6fbc7ed
--- /dev/null
+++ b/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/lerobot_v21/meta/stats.json
@@ -0,0 +1,3453 @@
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+{
+    "run_id": "stationassembly/000",
+    "created": "2026-11-10 00:09:19",
+    "num_envs": 1,
+    "session_id": null,
+    "record_config": {
+        "output_dir": "/mnt/scratch/xc536_atomic/n023_saw_off_1029/out",
+        "formats": [
+            "lerobot_v21",
+            "sim_info"
+        ],
+        "clear_buffer_on_failure": true,
+        "lerobot": {
+            "subsample_every": 2
+        }
+    },
+    "config": {
+        "env_string": "MobilePenCapEnv-V0",
+        "env": {
+            "sim": {
+                "device": "cpu",
+                "use_fabric": false,
+                "decimation": 4,
+                "dt": 0.005,
+                "seed": 1029,
+                "soft_resets": 2,
+                "scene": {
+                    "num_envs": 1,
+                    "env_spacing": 14
+                },
+                "render": {
+                    "rendering_mode": "performance",
+                    "enable_reflections": false,
+                    "enable_global_illumination": false,
+                    "enable_translucency": false,
+                    "enable_dl_denoiser": false
+                }
+            },
+            "robot": {
+                "RidgebackSawyerUmi": {
+                    "name": "ridgebacksawyer_umi",
+                    "type": "mobilemanip",
+                    "common": {
+                        "pos": [
+                            [
+                                -3.60306,
+                                -2.57085,
+                                0.06
+                            ],
+                            [
+                                -3.60306,
+                                -2.57085,
+                                0.06
+                            ]
+                        ],
+                        "ori": [
+                            [
+                                0,
+                                0,
+                                52.5613
+                            ],
+                            [
+                                0,
+                                0,
+                                52.5613
+                            ]
+                        ],
+                        "initial_joint_pos": {
+                            "dummy_base_.*": 0.0,
+                            "head_pan": 0.0,
+                            "right_j0": 0.0,
+                            "right_j1": -1.6,
+                            "right_j2": 0.0,
+                            "right_j3": 0.5,
+                            "right_j4": 0.0,
+                            "right_j5": 2.7,
+                            "right_j6": 0.0,
+                            "right_gripper_l_finger_joint": 0.0,
+                            "right_gripper_r_finger_joint": 0.0
+                        }
+                    },
+                    "action": {
+                        "base_action": "holonomic_action",
+                        "arm_action": "ik_pink",
+                        "eef_action": "binary"
+                    },
+                    "planner": {
+                        "dual_mode": true,
+                        "base_joint_names": [
+                            "dummy_base_prismatic_x_joint",
+                            "dummy_base_prismatic_y_joint",
+                            "dummy_base_revolute_z_joint"
+                        ],
+                        "ik": {
+                            "type": "ridgebacksawyer_umi",
+                            "model_tuning": "ridgeback_sawyer_umi",
+                            "enable": true,
+                            "ik_num_instances": 1,
+                            "ik_batch_size": 1,
+                            "ik_num_seeds": 32,
+                            "ik_max_goalset": 64,
+                            "ik_position_threshold": 0.005,
+                            "ik_rotation_threshold": 0.05,
+                            "microbatch_wait_ms": 20.0,
+                            "relative_to_world_frame": false
+                        },
+                        "motiongen": {
+                            "type": "ridgebacksawyer_umi",
+                            "model_tuning": "ridgeback_sawyer_umi",
+                            "enable": true,
+                            "motiongen_num_instances": 1,
+                            "max_attempts": 6,
+                            "batch_size": 1,
+                            "microbatch_wait_ms": 20.0,
+                            "mode": "position",
+                            "relative_to_world_frame": false,
+                            "start_state_limit_inset": 0.002,
+                            "num_trajopt_seeds": 1,
+                            "num_ik_seeds": 4
+                        },
+                        "body": {
+                            "type": "nav",
+                            "dwb_type": "dwb_holonomic",
+                            "dwb_holonomic": {
+                                "device": "cpu",
+                                "dt": 0.02,
+                                "debug": false,
+                                "num_rollout_steps": 60,
+                                "num_speed_samples": 11,
+                                "num_steer_samples": 11,
+                                "num_vx_samples": 7,
+                                "num_vy_samples": 7,
+                                "num_yaw_samples": 7,
+                                "max_accel": 1.5,
+                                "max_steer_rate": 1.5,
+                                "max_accel_vx": 1.5,
+                                "max_accel_vy": 1.5,
+                                "max_yaw_accel": 1.5,
+                                "w_goal": 6.0,
+                                "w_path": 8.0,
+                                "w_vel": 0.2,
+                                "w_vy": 0.0,
+                                "goal_cost_mode": "path",
+                                "dilate_radius": 0.36,
+                                "room_size": 12.0,
+                                "occupancy_update_interval": 25,
+                                "scan_height": 0.38,
+                                "scan_min_z": 0.15,
+                                "scan_max_z": 1.68,
+                                "goal_pos_threshold": 0.1,
+                                "goal_yaw_threshold": 0.08,
+                                "kp_goal_yaw": 1.5,
+                                "heading_reference": "path",
+                                "turn_yaw_threshold": 0.8,
+                                "heading_lookahead": 0.8,
+                                "heading_min_leg": 0.35,
+                                "route_yaw_gain": 2.0,
+                                "goal_yaw_hysteresis": 0.02,
+                                "min_vx": -0.3,
+                                "max_vx": 0.3,
+                                "min_vy": -0.3,
+                                "max_vy": 0.3,
+                                "min_yaw_rate": -0.8,
+                                "max_yaw_rate": 0.8,
+                                "safety_enabled": true,
+                                "safety_deceleration": 0.5,
+                                "safety_reaction_time": 0.5,
+                                "scan_type": "3d"
+                            },
+                            "p_controller": {
+                                "kp_angular_turning_only": 2.0,
+                                "kd_angular_turning_only": 1.0,
+                                "kp_linear_x": 3.0,
+                                "kp_linear_y": 3.0,
+                                "kp_angular": 2.0,
+                                "kd_linear_x": 1.0,
+                                "kd_linear_y": 1.0,
+                                "min_vel": -0.4,
+                                "max_vel": 0.5,
+                                "linear_dead_zone": 0.01,
+                                "angular_dead_zone": 0.05,
+                                "nav_heading_target": -1,
+                                "nav_upgrade_distance": 0.03
+                            }
+                        },
+                        "arm": {
+                            "type": "default"
+                        },
+                        "eef": {
+                            "type": "default"
+                        }
+                    },
+                    "physics": {
+                        "robot_radius": 0.66,
+                        "wheel_base": 0.01
+                    },
+                    "reset": "default"
+                }
+            },
+            "camera": {
+                "enable_tiled": false,
+                "colorize_depth": false,
+                "head": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 2.0,
+                        "horizontal_aperture": 3.6,
+                        "vertical_aperture": 2.7,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/head",
+                        "pos": [
+                            0.2166,
+                            0.0,
+                            -0.045
+                        ],
+                        "ori": [
+                            -0.0,
+                            35.0,
+                            -90.0
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                },
+                "wrist": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 1.8,
+                        "horizontal_aperture": 3.6,
+                        "vertical_aperture": 2.7,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/right_electric_gripper_base",
+                        "pos": [
+                            0.0598,
+                            0.0,
+                            0.03
+                        ],
+                        "ori": [
+                            180.0,
+                            0.0,
+                            -90.0
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                }
+            },
+            "scene": {
+                "background": {
+                    "intensity": [
+                        833.57925,
+                        833.57925
+                    ]
+                },
+                "terrain": {
+                    "type": "nav_room",
+                    "collision": true,
+                    "hide_top_walls": true,
+                    "usd": [
+                        "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom"
+                    ],
+                    "annotation": "Annotation",
+                    "random": false,
+                    "pos": [
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "ori": [
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "scale": [
+                        1.0,
+                        1.0,
+                        1.0
+                    ],
+                    "physics_material": {
+                        "static_friction": 1.0,
+                        "dynamic_friction": 1.0,
+                        "restitution": 0.0,
+                        "friction_combine_mode": "multiply",
+                        "restitution_combine_mode": "multiply"
+                    }
+                },
+                "objects": {
+                    "table_A": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                -2.0,
+                                1.5,
+                                0.23
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                0.9,
+                                0.6,
+                                0.4
+                            ]
+                        },
+                        "table_A_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.78,
+                                    0.72,
+                                    0.62
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "pen_holder": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/MobileAssembly/pen_holder_a05/Object.usd"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                -2.01323,
+                                1.44421,
+                                0.48
+                            ],
+                            "ori": [
+                                0.0,
+                                0.0,
+                                -1.31009
+                            ],
+                            "scale": [
+                                1.0,
+                                1.0,
+                                1.0
+                            ]
+                        },
+                        "pen_holder_1": {
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "cap": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Object/MobileAssembly/cap_a05/Object.usd"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                -2.09871,
+                                1.44617,
+                                0.48
+                            ],
+                            "ori": [
+                                0.0,
+                                0.0,
+                                -1.31009
+                            ],
+                            "scale": [
+                                1.0,
+                                1.0,
+                                1.0
+                            ]
+                        },
+                        "cap_1": {
+                            "physics": {
+                                "type": "rigid",
+                                "collision": true,
+                                "mass": 0.01733,
+                                "physics_material": {
+                                    "static_friction": 0.6,
+                                    "dynamic_friction": 0.5,
+                                    "restitution": 0.0
+                                }
+                            }
+                        }
+                    }
+                }
+            },
+            "nav": {
+                "navmesh": {
+                    "enabled": true,
+                    "visualize": false,
+                    "bake_timeout_s": 180,
+                    "agent_height_cm": 150,
+                    "min_agent_radius_cm": 45.0,
+                    "max_agent_radius_cm": 45.0,
+                    "max_step_height_cm": 20,
+                    "max_floor_slope_deg": 30,
+                    "agent_island_radius_cm": 5,
+                    "auto_exclude_rigid_bodies": true,
+                    "validate_path_clearance": true,
+                    "validate_path_window": true,
+                    "navmesh_offset_z_m": 0,
+                    "verbose": false
+                },
+                "occupancymap": {
+                    "cell_size": 0.05
+                }
+            }
+        },
+        "task": {
+            "observation": {},
+            "reward": {},
+            "level": "easy",
+            "termination": {
+                "timeout_steps": 9000,
+                "success_hold_frames": 1
+            },
+            "station": {
+                "S": {
+                    "pose": [
+                        -3.6,
+                        -2.5,
+                        60.0
+                    ]
+                },
+                "A": {
+                    "center": [
+                        -2.0,
+                        0.6
+                    ],
+                    "zone_radius": 0.6,
+                    "table": "table_A"
+                }
+            },
+            "stance": {
+                "radii_A": [
+                    0.72,
+                    0.8,
+                    0.66,
+                    0.9
+                ],
+                "radii_B": [
+                    0.72,
+                    0.8,
+                    0.66,
+                    0.9
+                ],
+                "bearings_deg": [
+                    0.0,
+                    -25.0,
+                    25.0
+                ],
+                "yaw_offsets_deg": [
+                    0.0
+                ],
+                "include_current": true
+            },
+            "assembly": {
+                "part": {
+                    "name": "cap",
+                    "id": 0
+                },
+                "fixture": {
+                    "name": "pen_holder",
+                    "id": 0
+                },
+                "support_z": 0.43,
+                "part_half_height": 0.0175,
+                "lift_height": 0.03,
+                "carry_lost": 0.25,
+                "hold_steps": 30,
+                "release_clear": 0.06,
+                "fixture_move_limit": 0.01,
+                "fall_margin": 0.12,
+                "axis_max_deg": 8.0,
+                "lateral_max": 0.003,
+                "seat_tol_in": 0.004,
+                "seat_tol_out": 0.002,
+                "pull": 0.06,
+                "lift": 0.06,
+                "over_x": 0.155,
+                "push_extra": 0.002,
+                "umi": {
+                    "table_clearance": 0.01,
+                    "min_approach_down_deg": 65.0,
+                    "max_approach_down_deg": 90.0,
+                    "max_candidates": 64
+                }
+            },
+            "command": {
+                "StationAssembly": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "init_limit": 30,
+                    "max_attempt": 2,
+                    "tail_steps": 400,
+                    "part": {
+                        "obj_type": "rigid",
+                        "obj_name": "cap",
+                        "obj_id": 0
+                    },
+                    "fixture": {
+                        "obj_type": "geometry",
+                        "obj_name": "pen_holder",
+                        "obj_id": 0
+                    },
+                    "stages": [
+                        {
+                            "name": "nav_A",
+                            "type": "nav",
+                            "goal": [
+                                -2.0,
+                                0.6,
+                                90.0
+                            ]
+                        },
+                        {
+                            "name": "stance_A",
+                            "type": "stance",
+                            "target": "part"
+                        },
+                        {
+                            "name": "pick",
+                            "type": "grasp",
+                            "skip_retrieval": true
+                        },
+                        {
+                            "name": "assemble",
+                            "type": "assemble"
+                        }
+                    ]
+                }
+            }
+        },
+        "collect": {
+            "command": {
+                "StationAssembly": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "init_limit": 30,
+                    "max_attempt": 2,
+                    "tail_steps": 400,
+                    "part": {
+                        "obj_type": "rigid",
+                        "obj_name": "cap",
+                        "obj_id": 0
+                    },
+                    "fixture": {
+                        "obj_type": "geometry",
+                        "obj_name": "pen_holder",
+                        "obj_id": 0
+                    },
+                    "stages": [
+                        {
+                            "name": "nav_A",
+                            "type": "nav",
+                            "goal": [
+                                -2.0,
+                                0.6,
+                                90.0
+                            ]
+                        },
+                        {
+                            "name": "stance_A",
+                            "type": "stance",
+                            "target": "part"
+                        },
+                        {
+                            "name": "pick",
+                            "type": "grasp",
+                            "skip_retrieval": true
+                        },
+                        {
+                            "name": "assemble",
+                            "type": "assemble"
+                        }
+                    ]
+                }
+            },
+            "global_planner": {
+                "NavTo": {
+                    "use_navmesh": true,
+                    "use_absolute": true,
+                    "translation_threshold": 0.2,
+                    "rotation_threshold": 0.15,
+                    "num_path_segments": 30,
+                    "start_forward_offset": 0.0,
+                    "visualize_path": false,
+                    "carry_arm": true
+                },
+                "MobileMoveL": {
+                    "translation_threshold": 0.006,
+                    "rotation_threshold": 0.2,
+                    "motiongen_distance_threshold": 0.05,
+                    "timeout_steps": 1800,
+                    "reactive": false,
+                    "base_pos_threshold": 0.12,
+                    "base_rot_threshold": 0.5,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.3,
+                    "waypoint_max_steps": 20,
+                    "interp_steps": 60,
+                    "retry_mobile_on_locked_plan_failure": true,
+                    "debug": false,
+                    "debug_viz": false
+                },
+                "AssemblyServoL": {
+                    "translation_threshold": 0.0003,
+                    "rotation_threshold": 0.005,
+                    "motiongen_distance_threshold": 0.0,
+                    "timeout_steps": 1000000,
+                    "min_steps_before_done": 1000000,
+                    "reactive": false,
+                    "base_pos_threshold": 0.12,
+                    "base_rot_threshold": 0.5,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.3,
+                    "waypoint_max_steps": 1,
+                    "debug": false,
+                    "debug_viz": false
+                },
+                "MobileServoL": {
+                    "translation_threshold": 0.03,
+                    "rotation_threshold": 0.3,
+                    "done_threshold": 0.03,
+                    "timeout_steps": 300,
+                    "stride": 1,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.1,
+                    "base_pos_threshold": 0.12,
+                    "waypoint_max_steps": 20,
+                    "force_free_base_distance": 0.4,
+                    "motiongen_distance_threshold": 0.05,
+                    "embedded_direct_lock_layout": "trailing",
+                    "debug": false,
+                    "debug_viz": false
+                },
+                "ParallelGripper": {
+                    "gripper_threshold": 0.0005,
+                    "timeout_steps": 60
+                }
+            },
+            "atomic_skill": {
+                "NavToPose": {
+                    "robot_id": 0,
+                    "show_marker": false
+                },
+                "HoldPose": {
+                    "robot_id": 0,
+                    "hand_id": 0
+                },
+                "NavTo": {
+                    "robot_id": 0,
+                    "position_offset": 0.85,
+                    "position_threshold": 0.08,
+                    "angle_threshold": 0.06
+                },
+                "ReachStance": {
+                    "check_current_first": true,
+                    "stance_margin": 0.03,
+                    "max_reach": 1.0,
+                    "max_walks": 2,
+                    "reject_radius": 0.05,
+                    "obstacle_avoidance": [
+                        "dynamic"
+                    ],
+                    "walk_planner": "MobileServoL",
+                    "strategy_kwargs": {
+                        "reach_steps": 2
+                    },
+                    "pre_grasp_planner": "MobileMoveL",
+                    "pre_grasp_mode": -1,
+                    "goalset_lock_base": true,
+                    "debug": true
+                },
+                "AssemblyGrasp": {
+                    "pre_grasp_offset_x": 0.12,
+                    "retrieval_offset_x": 0.15,
+                    "mobile": true,
+                    "pre_grasp_planner": "MobileMoveL",
+                    "pre_grasp_mode": -1,
+                    "grasp_mode": 4,
+                    "retrieval_mode": 4,
+                    "goalset_lock_base": true,
+                    "reactive": false,
+                    "viz_grasp": false,
+                    "close_settle_steps": 10,
+                    "obstacle_ignore": [
+                        "pen_holder"
+                    ]
+                },
+                "CarryPose": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "carry_part_pos": [
+                        0.62,
+                        0.0,
+                        0.5
+                    ],
+                    "planner_mode": 1
+                },
+                "AssemblyInsert": {
+                    "plan_mode": 1,
+                    "max_lin": 0.002,
+                    "max_rot_deg": 1.0,
+                    "settle_ticks": 3,
+                    "servo_max_steps": 600,
+                    "lateral_gate": 0.002,
+                    "stall_ticks": 60,
+                    "stall_min_progress": 0.8,
+                    "carry_lost": 0.25,
+                    "open_value": 0.0
+                }
+            },
+            "auto_collect": {
+                "task_type": "assembly",
+                "max_trajectories": 1
+            },
+            "record": {
+                "output_dir": "/mnt/scratch/xc536_atomic/n023_saw_off_1029/out",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            }
+        },
+        "visual_dr": {
+            "keep": [
+                "cap",
+                "pen_holder"
+            ]
+        }
+    },
+    "git_sha": null,
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}
\ No newline at end of file
diff --git a/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/sim_info/0/actions.npz b/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/sim_info/0/actions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..263d058d797c7ff90a326f231a454e0a24a491c3
--- /dev/null
+++ b/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/sim_info/0/actions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ecacb71a0ee49458e9c136bb505ea5dbab45e8c5c1e85488afce099c3cae103
+size 227926
diff --git a/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/sim_info/0/device_commands.jsonl b/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/sim_info/0/device_commands.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/sim_info/0/device_events.jsonl b/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/sim_info/0/device_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/sim_info/0/scene_snapshot.json b/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/sim_info/0/scene_snapshot.json
new file mode 100644
index 0000000000000000000000000000000000000000..c17c22cf4489e9126d43ca536f35cc5672c3a835
--- /dev/null
+++ b/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/sim_info/0/scene_snapshot.json
@@ -0,0 +1,269 @@
+{
+    "trajectory_id": 0,
+    "env_id": 0,
+    "run_id": "stationassembly/000",
+    "task_type": "StationAssembly",
+    "success": true,
+    "timing": {
+        "fps": 50.0,
+        "sim_dt": 0.005,
+        "decimation": 4
+    },
+    "restore_interface": {
+        "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
+    },
+    "snapshot": {
+        "env_id": 0,
+        "scene": {
+            "objects": [
+                {
+                    "table_A": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    -2.0,
+                                    1.5,
+                                    0.23
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.9,
+                                    0.6,
+                                    0.4
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.78,
+                                        0.72,
+                                        0.62
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "pen_holder": [
+                        {
+                            "asset": "/mnt/scratch/xc536_atomic_local/repo_b3820fd82/Assets/Object/MobileAssembly/pen_holder_a05/Object.usd",
+                            "pose": {
+                                "pos": [
+                                    -2.01323,
+                                    1.44421,
+                                    0.48
+                                ],
+                                "ori": [
+                                    0.9999346733093262,
+                                    0.0,
+                                    0.0,
+                                    -0.01143244281411171
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "cap": [
+                        {
+                            "asset": "/mnt/scratch/xc536_atomic_local/repo_b3820fd82/Assets/Object/MobileAssembly/cap_a05/Object.usd",
+                            "pose": {
+                                "pos": [
+                                    -2.098749876022339,
+                                    1.4461090564727783,
+                                    0.4789077341556549
+                                ],
+                                "ori": [
+                                    0.9998626708984375,
+                                    -0.009319543838500977,
+                                    -0.00019581476226449013,
+                                    -0.013700904324650764
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "rigid",
+                                    "collision": true,
+                                    "mass": 0.01733,
+                                    "physics_material": {
+                                        "static_friction": 0.6,
+                                        "dynamic_friction": 0.5,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "linear_velocity": [
+                                    3.3759279176592827e-06,
+                                    -0.0006205578683875501,
+                                    -0.00019160949159413576
+                                ],
+                                "angular_velocity": [
+                                    -0.04445525258779526,
+                                    -0.00248219002969563,
+                                    0.014672668650746346
+                                ]
+                            }
+                        }
+                    ]
+                }
+            ],
+            "artifacts": [
+                {}
+            ],
+            "background": {
+                "type": "dome",
+                "pose": {
+                    "pos": null,
+                    "ori": null,
+                    "scale": null
+                },
+                "dr": {
+                    "intensity": 833.57925,
+                    "texture": null,
+                    "color": [
+                        0.85,
+                        0.85,
+                        0.85
+                    ]
+                }
+            }
+        },
+        "robots": {
+            "RidgebackSawyerUmi": {
+                "root_pose": [
+                    [
+                        -3.603060007095337,
+                        -2.570849895477295,
+                        0.05999999865889549,
+                        0.8966360092163086,
+                        0.0,
+                        0.0,
+                        0.442768394947052
+                    ]
+                ],
+                "root_vel": [
+                    [
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+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ],
+                "joint_pos": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        -1.600000023841858,
+                        0.0,
+                        0.5,
+                        0.0,
+                        2.700000047683716,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ],
+                "joint_vel": [
+                    [
+                        0.0,
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+                        0.0,
+                        0.0,
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+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ]
+            }
+        },
+        "cameras": {
+            "cameras": {
+                "head": [
+                    [
+                        0.21660000085830688,
+                        0.0,
+                        -0.04500000178813934,
+                        -0.6743797063827515,
+                        0.21263112127780914,
+                        -0.21263112127780914,
+                        0.6743797659873962
+                    ]
+                ],
+                "wrist": [
+                    [
+                        0.05979999899864197,
+                        0.0,
+                        0.029999999329447746,
+                        6.123234262925839e-17,
+                        0.7071067690849304,
+                        0.7071067690849304,
+                        -4.329780301713277e-17
+                    ]
+                ]
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/sim_info/0/sim_states.npz b/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/sim_info/0/sim_states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..a6c6b7da6d9dd6b3805c2f7edbc8ac2542d0cd55
--- /dev/null
+++ b/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/sim_info/0/sim_states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7a3f64bb1388013c3dccf74064a83fa32bbc1db70a6d49b441a80b62cafe520
+size 238075
diff --git a/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/sim_info/magicsim_manifest.json b/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/sim_info/magicsim_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..60641b01bdfefc55d95eed139eda81d912088496
--- /dev/null
+++ b/N023/sawyer_umi/dr_off/seed_1029/stationassembly/000/sim_info/magicsim_manifest.json
@@ -0,0 +1,233 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 00:16:11"
+    },
+    "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
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "stationassembly/000",
+        "task_type": "StationAssembly"
+    }
+}
\ No newline at end of file
diff --git a/N023/sawyer_umi/dr_on/seed_2030/check.json b/N023/sawyer_umi/dr_on/seed_2030/check.json
new file mode 100644
index 0000000000000000000000000000000000000000..7acc377b67146a02ef51ffe3e3dc87f10e88b05f
--- /dev/null
+++ b/N023/sawyer_umi/dr_on/seed_2030/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 pen, pull the cap off its tip, and push the cap onto the other end of the pen.'; expected 'Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "902 rows vs ceil(1803/2) = 902"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 31..1833, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "11.09 MB, 902 frames at 25 fps, mean luma 44..94, std 62, new picture 901x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "902 vs 902"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "14.41 MB, 902 frames at 25 fps, mean luma 58..152, std 45, new picture 901x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "902 vs 902"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stationassembly/000/sim_info"
+  }
+ }
+}
\ No newline at end of file
diff --git a/N023/sawyer_umi/dr_on/seed_2030/check.txt b/N023/sawyer_umi/dr_on/seed_2030/check.txt
new file mode 100644
index 0000000000000000000000000000000000000000..2bae664138f259e3e54d7812bafcb29da8f00395
--- /dev/null
+++ b/N023/sawyer_umi/dr_on/seed_2030/check.txt
@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n023_saw_on_2030/out  task=N023  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n023_saw_on_2030/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 902  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: 902 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 pen, pull the cap off its tip, and push the cap onto the other end of the pen.'; expected 'Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.'
+rows 902 at dataset fps 25 = 36.08 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 902 rows vs ceil(1803/2) = 902
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..1833, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 11.09 MB, 902 frames at 25 fps, mean luma 44..94, std 62, new picture 901x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 902 vs 902
+[PASS] video observation.images.wrist decodes, 640x480, not black: 14.41 MB, 902 frames at 25 fps, mean luma 58..152, std 45, new picture 901x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 902 vs 902
+parquet size 1.04 MB
+[PASS] sim_info present: stationassembly/000/sim_info
+dataset size 26.72 MB; whole cell dir 27.3 MB
+RESULT: ALL PASS
diff --git a/N023/sawyer_umi/dr_on/seed_2030/report.json b/N023/sawyer_umi/dr_on/seed_2030/report.json
new file mode 100644
index 0000000000000000000000000000000000000000..032df11b4dc0b683eabae107c97a81e231e0c938
--- /dev/null
+++ b/N023/sawyer_umi/dr_on/seed_2030/report.json
@@ -0,0 +1,1299 @@
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+}
diff --git a/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/completed/0.json b/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/completed/0.json
new file mode 100644
index 0000000000000000000000000000000000000000..1db0234d1d09a173dbe0f48b261236e22fe34f76
--- /dev/null
+++ b/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/completed/0.json
@@ -0,0 +1 @@
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\ No newline at end of file
diff --git a/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/lerobot_v21/data/chunk-000/episode_000000.parquet
new file mode 100644
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+size 1043291
diff --git a/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/lerobot_v21/meta/episodes.jsonl b/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/lerobot_v21/meta/episodes.jsonl
new file mode 100644
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--- /dev/null
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diff --git a/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl b/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/lerobot_v21/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..8adb1624819aa6ead17758a19f569420302abc07
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diff --git a/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json b/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..3fe99ad27b8713a7211d8bcb3e38d3db533e7f1b
--- /dev/null
+++ b/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json
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+       0.0
+      ]
+     }
+    },
+    {
+     "id": "pen_holder_1",
+     "cat_name": "pen_holder",
+     "inst_id": 1,
+     "noun": "pen holder",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      4.284820299596684,
+      0.46188224711572684,
+      0.41999992597174396
+     ],
+     "bbox": {
+      "extent": [
+       0.21036821647104725,
+       0.09962346772994057,
+       0.06449999939650297
+      ],
+      "center": [
+       1.3183898417423734e-16,
+       1.1102230246251565e-16,
+       -0.017750000115484
+      ]
+     }
+    },
+    {
+     "id": "cap_1",
+     "cat_name": "cap",
+     "inst_id": 1,
+     "noun": "cap",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "rigid",
+     "pos": [
+      4.2481961915512265,
+      0.5391367629167323,
+      0.41890175812683145
+     ],
+     "bbox": {
+      "extent": [
+       0.045181314848424234,
+       0.04112043678815928,
+       0.03528294545223598
+      ],
+      "center": [
+       -3.5179369634874558e-06,
+       2.396105982342342e-05,
+       -7.486494940645017e-08
+      ]
+     }
+    }
+   ],
+   "relations": [
+    {
+     "subject": "table_A_1",
+     "relation": "in_front_of",
+     "object": "pen_holder_1"
+    },
+    {
+     "subject": "pen_holder_1",
+     "relation": "right_of",
+     "object": "cap_1"
+    },
+    {
+     "subject": "cap_1",
+     "relation": "left_of",
+     "object": "pen_holder_1"
+    }
+   ],
+   "cameras": [
+    {
+     "name": "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_robot": [
+      4.171538394245219,
+      -2.162852512179426,
+      -0.10500001751963493
+     ],
+     "viewpoint": "front-right, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        -8.039232568535226e-08,
+        -0.9999999999999964,
+        2.5347603738179458e-08
+       ],
+       [
+        0.8191520331270514,
+        -8.039232568535226e-08,
+        -0.5735764522919431
+       ],
+       [
+        0.5735764522919431,
+        -2.5347603738179458e-08,
+        0.819152033127055
+       ]
+      ],
+      "t": [
+       1.855362002599171e-08,
+       -0.2032392724571752,
+       -0.08737481710326404
+      ]
+     }
+    },
+    {
+     "name": "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_robot": [
+      4.094034687608904,
+      -2.02654617954991,
+      -0.03000001822928293
+     ],
+     "viewpoint": "front-right, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        0.0,
+        1.0,
+        -1.4782795217992896e-16
+       ],
+       [
+        1.0,
+        0.0,
+        2.5363269588459423e-17
+       ],
+       [
+        2.5363269588459423e-17,
+        -1.4782795217992896e-16,
+        -1.0
+       ]
+      ],
+      "t": [
+       4.4348384662715026e-18,
+       -0.05979999899864197,
+       0.029999999329447746
+      ]
+     }
+    }
+   ],
+   "robots": [
+    {
+     "name": "RidgebackSawyerUmi",
+     "model": "ridgebacksawyer_umi",
+     "type": "mobilemanip",
+     "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
+       -3.72559,
+       -2.55746,
+       0.06
+      ],
+      "ori": [
+       0.8645236492156982,
+       0.0,
+       0.0,
+       0.5025920867919922
+      ]
+     },
+     "facing_yaw_deg": 60.343278643353564,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 873.08239,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table A. There are a large gray table A, a small pen holder and a small cap. The gray table A is in front of the pen holder. The pen holder is to the right of the cap. The cap is to the left of the pen holder. The scene is viewed from front-right, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n[cap]pen holder]\n\n\n\n\n\n\n\n                        [robot]"
+  },
+  "task": {
+   "task_type": "StationAssembly",
+   "instruction": "Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Stationassembly the 1.5707963267948966.",
+   "task_id": "N023",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {
+   "frame_0661": {
+    "frame_idx": 661,
+    "caption": "Computing a grasp pose for the small cap; the right gripper is below and to the left of and in front of the cap.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0669": {
+    "frame_idx": 669,
+    "caption": "Working on the small cap; the right gripper is below and to the left of and in front of the cap.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0719": {
+    "frame_idx": 719,
+    "caption": "Working on the small cap; the right gripper is below and in front of the cap.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_0789": {
+    "frame_idx": 789,
+    "caption": "Working on the small cap; the right gripper is below and to the right of and in front of the cap.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0818": {
+    "frame_idx": 818,
+    "caption": "Working on the small cap; the right gripper is below and to the right of the cap.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of"
+    ]
+   },
+   "frame_0905": {
+    "frame_idx": 905,
+    "caption": "Working on the small cap; the right gripper is below and to the right of and in front of the cap.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0946": {
+    "frame_idx": 946,
+    "caption": "Working on the small cap; the right gripper is below and to the right of the cap.",
+    "skill": "AssemblyGrasp",
+    "phase": "grasp",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of"
+    ]
+   },
+   "frame_1056": {
+    "frame_idx": 1056,
+    "caption": "Done — the small cap is grasped; the right gripper is below and to the right of the cap.",
+    "skill": "Grasp",
+    "phase": "completed",
+    "skill_state": "finished",
+    "planner": "ParallelGripper",
+    "planner_state": "finished",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of"
+    ]
+   },
+   "frame_1057": {
+    "frame_idx": 1057,
+    "caption": "Working on the small cap; the right gripper is below and to the right of the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:start",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of"
+    ]
+   },
+   "frame_1070": {
+    "frame_idx": 1070,
+    "caption": "Working on the small cap; the right gripper is below and to the right of and in front of the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:pull",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of",
+     "in_front_of"
+    ]
+   },
+   "frame_1177": {
+    "frame_idx": 1177,
+    "caption": "Working on the small cap; the right gripper is below and to the right of the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:turn",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of"
+    ]
+   },
+   "frame_1243": {
+    "frame_idx": 1243,
+    "caption": "Working on the small cap; the right gripper is below and behind the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:turn",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "behind"
+    ]
+   },
+   "frame_1319": {
+    "frame_idx": 1319,
+    "caption": "Working on the small cap; the right gripper is below and to the left of and behind the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:turn",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "behind"
+    ]
+   },
+   "frame_1348": {
+    "frame_idx": 1348,
+    "caption": "Working on the small cap; the right gripper is below and to the left of the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:turn",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of"
+    ]
+   },
+   "frame_1375": {
+    "frame_idx": 1375,
+    "caption": "Working on the small cap; the right gripper is below the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:turn",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1423": {
+    "frame_idx": 1423,
+    "caption": "Working on the small cap; the right gripper is below and to the left of the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:over_tail",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of"
+    ]
+   },
+   "frame_1437": {
+    "frame_idx": 1437,
+    "caption": "Working on the small cap; the right gripper is below and to the left of and behind the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:over_tail",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "behind"
+    ]
+   }
+  }
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}
\ No newline at end of file
diff --git a/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/lerobot_v21/meta/info.json b/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/lerobot_v21/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb8d5a063e312faacf7c5412f69c6032e58aa03a
--- /dev/null
+++ b/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/lerobot_v21/meta/info.json
@@ -0,0 +1,268 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "RidgebackSawyerUmiCfg",
+    "total_episodes": 1,
+    "total_frames": 902,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                11
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "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": {
+            "dtype": "bool",
+            "shape": [
+                11
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "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",
+            "shape": [
+                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"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                21
+            ],
+            "names": [
+                "object_pose.cap.0",
+                "object_pose.cap.1",
+                "object_pose.cap.2",
+                "object_pose.cap.3",
+                "object_pose.cap.4",
+                "object_pose.cap.5",
+                "object_pose.cap.6",
+                "object_pose.pen_holder.0",
+                "object_pose.pen_holder.1",
+                "object_pose.pen_holder.2",
+                "object_pose.pen_holder.3",
+                "object_pose.pen_holder.4",
+                "object_pose.pen_holder.5",
+                "object_pose.pen_holder.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"
+            ]
+        },
+        "action.command": {
+            "dtype": "float32",
+            "shape": [
+                688
+            ],
+            "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
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json b/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..5655ba8accfc3b97699d7455598b3a5e0f5498b2
--- /dev/null
+++ b/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json
@@ -0,0 +1,264 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 00:16:24"
+    },
+    "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"
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+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
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+        ]
+    },
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+                "end": 13,
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+                    "dummy_base_prismatic_y_joint",
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+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
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+                "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"
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+        ]
+    },
+    "action_levels": {
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+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
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+    "lerobot": {
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+        "video_keys": [
+            "observation.images.head",
+            "observation.images.wrist"
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+        "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": "stationassembly/000",
+        "task_type": "StationAssembly"
+    }
+}
\ No newline at end of file
diff --git a/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/lerobot_v21/meta/stats.json b/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/lerobot_v21/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..3b4ed0d809c8ed5503c3106eabf87b534dc09bb3
--- /dev/null
+++ b/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/lerobot_v21/meta/stats.json
@@ -0,0 +1,3517 @@
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+}
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diff --git a/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4
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+                "push_extra": 0.002,
+                "umi": {
+                    "table_clearance": 0.01,
+                    "min_approach_down_deg": 65.0,
+                    "max_approach_down_deg": 90.0,
+                    "max_candidates": 64
+                }
+            },
+            "command": {
+                "StationAssembly": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "init_limit": 30,
+                    "max_attempt": 2,
+                    "tail_steps": 400,
+                    "part": {
+                        "obj_type": "rigid",
+                        "obj_name": "cap",
+                        "obj_id": 0
+                    },
+                    "fixture": {
+                        "obj_type": "geometry",
+                        "obj_name": "pen_holder",
+                        "obj_id": 0
+                    },
+                    "stages": [
+                        {
+                            "name": "nav_A",
+                            "type": "nav",
+                            "goal": [
+                                -2.0,
+                                0.6,
+                                90.0
+                            ]
+                        },
+                        {
+                            "name": "stance_A",
+                            "type": "stance",
+                            "target": "part"
+                        },
+                        {
+                            "name": "pick",
+                            "type": "grasp",
+                            "skip_retrieval": true
+                        },
+                        {
+                            "name": "assemble",
+                            "type": "assemble"
+                        }
+                    ]
+                }
+            }
+        },
+        "collect": {
+            "command": {
+                "StationAssembly": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "init_limit": 30,
+                    "max_attempt": 2,
+                    "tail_steps": 400,
+                    "part": {
+                        "obj_type": "rigid",
+                        "obj_name": "cap",
+                        "obj_id": 0
+                    },
+                    "fixture": {
+                        "obj_type": "geometry",
+                        "obj_name": "pen_holder",
+                        "obj_id": 0
+                    },
+                    "stages": [
+                        {
+                            "name": "nav_A",
+                            "type": "nav",
+                            "goal": [
+                                -2.0,
+                                0.6,
+                                90.0
+                            ]
+                        },
+                        {
+                            "name": "stance_A",
+                            "type": "stance",
+                            "target": "part"
+                        },
+                        {
+                            "name": "pick",
+                            "type": "grasp",
+                            "skip_retrieval": true
+                        },
+                        {
+                            "name": "assemble",
+                            "type": "assemble"
+                        }
+                    ]
+                }
+            },
+            "global_planner": {
+                "NavTo": {
+                    "use_navmesh": true,
+                    "use_absolute": true,
+                    "translation_threshold": 0.2,
+                    "rotation_threshold": 0.15,
+                    "num_path_segments": 30,
+                    "start_forward_offset": 0.0,
+                    "visualize_path": false,
+                    "carry_arm": true
+                },
+                "MobileMoveL": {
+                    "translation_threshold": 0.006,
+                    "rotation_threshold": 0.2,
+                    "motiongen_distance_threshold": 0.05,
+                    "timeout_steps": 1800,
+                    "reactive": false,
+                    "base_pos_threshold": 0.12,
+                    "base_rot_threshold": 0.5,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.3,
+                    "waypoint_max_steps": 20,
+                    "interp_steps": 60,
+                    "retry_mobile_on_locked_plan_failure": true,
+                    "debug": false,
+                    "debug_viz": false
+                },
+                "AssemblyServoL": {
+                    "translation_threshold": 0.0003,
+                    "rotation_threshold": 0.005,
+                    "motiongen_distance_threshold": 0.0,
+                    "timeout_steps": 1000000,
+                    "min_steps_before_done": 1000000,
+                    "reactive": false,
+                    "base_pos_threshold": 0.12,
+                    "base_rot_threshold": 0.5,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.3,
+                    "waypoint_max_steps": 1,
+                    "debug": false,
+                    "debug_viz": false
+                },
+                "MobileServoL": {
+                    "translation_threshold": 0.03,
+                    "rotation_threshold": 0.3,
+                    "done_threshold": 0.03,
+                    "timeout_steps": 300,
+                    "stride": 1,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.1,
+                    "base_pos_threshold": 0.12,
+                    "waypoint_max_steps": 20,
+                    "force_free_base_distance": 0.4,
+                    "motiongen_distance_threshold": 0.05,
+                    "embedded_direct_lock_layout": "trailing",
+                    "debug": false,
+                    "debug_viz": false
+                },
+                "ParallelGripper": {
+                    "gripper_threshold": 0.0005,
+                    "timeout_steps": 60
+                }
+            },
+            "atomic_skill": {
+                "NavToPose": {
+                    "robot_id": 0,
+                    "show_marker": false
+                },
+                "HoldPose": {
+                    "robot_id": 0,
+                    "hand_id": 0
+                },
+                "NavTo": {
+                    "robot_id": 0,
+                    "position_offset": 0.85,
+                    "position_threshold": 0.08,
+                    "angle_threshold": 0.06
+                },
+                "ReachStance": {
+                    "check_current_first": true,
+                    "stance_margin": 0.03,
+                    "max_reach": 1.0,
+                    "max_walks": 2,
+                    "reject_radius": 0.05,
+                    "obstacle_avoidance": [
+                        "dynamic"
+                    ],
+                    "walk_planner": "MobileServoL",
+                    "strategy_kwargs": {
+                        "reach_steps": 2
+                    },
+                    "pre_grasp_planner": "MobileMoveL",
+                    "pre_grasp_mode": -1,
+                    "goalset_lock_base": true,
+                    "debug": true
+                },
+                "AssemblyGrasp": {
+                    "pre_grasp_offset_x": 0.12,
+                    "retrieval_offset_x": 0.15,
+                    "mobile": true,
+                    "pre_grasp_planner": "MobileMoveL",
+                    "pre_grasp_mode": -1,
+                    "grasp_mode": 4,
+                    "retrieval_mode": 4,
+                    "goalset_lock_base": true,
+                    "reactive": false,
+                    "viz_grasp": false,
+                    "close_settle_steps": 10,
+                    "obstacle_ignore": [
+                        "pen_holder"
+                    ]
+                },
+                "CarryPose": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "carry_part_pos": [
+                        0.62,
+                        0.0,
+                        0.5
+                    ],
+                    "planner_mode": 1
+                },
+                "AssemblyInsert": {
+                    "plan_mode": 1,
+                    "max_lin": 0.002,
+                    "max_rot_deg": 1.0,
+                    "settle_ticks": 3,
+                    "servo_max_steps": 600,
+                    "lateral_gate": 0.002,
+                    "stall_ticks": 60,
+                    "stall_min_progress": 0.8,
+                    "carry_lost": 0.25,
+                    "open_value": 0.0
+                }
+            },
+            "auto_collect": {
+                "task_type": "assembly",
+                "max_trajectories": 1
+            },
+            "record": {
+                "output_dir": "/mnt/scratch/xc536_atomic/n023_saw_on_2030/out",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            }
+        },
+        "visual_dr": {
+            "keep": [
+                "cap",
+                "pen_holder"
+            ]
+        }
+    },
+    "git_sha": null,
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}
\ No newline at end of file
diff --git a/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/sim_info/0/actions.npz b/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/sim_info/0/actions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..55fdbce9ab57c96d4dbcf418f45c5adeae705ea4
--- /dev/null
+++ b/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/sim_info/0/actions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14abc419aed33135d9161b0b5fe1d0aca995ad5fe28b25c47580a29007cb0c62
+size 229968
diff --git a/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/sim_info/0/device_commands.jsonl b/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/sim_info/0/device_commands.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/sim_info/0/device_events.jsonl b/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/sim_info/0/device_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/sim_info/0/scene_snapshot.json b/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/sim_info/0/scene_snapshot.json
new file mode 100644
index 0000000000000000000000000000000000000000..a1e826ed7cc02ba558d656c4e935eb89bdda3039
--- /dev/null
+++ b/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/sim_info/0/scene_snapshot.json
@@ -0,0 +1,269 @@
+{
+    "trajectory_id": 0,
+    "env_id": 0,
+    "run_id": "stationassembly/000",
+    "task_type": "StationAssembly",
+    "success": true,
+    "timing": {
+        "fps": 50.0,
+        "sim_dt": 0.005,
+        "decimation": 4
+    },
+    "restore_interface": {
+        "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
+    },
+    "snapshot": {
+        "env_id": 0,
+        "scene": {
+            "objects": [
+                {
+                    "table_A": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    -2.0,
+                                    1.5,
+                                    0.23
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.9,
+                                    0.6,
+                                    0.4
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.78,
+                                        0.72,
+                                        0.62
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "pen_holder": [
+                        {
+                            "asset": "/mnt/scratch/xc536_atomic_local/repo_b3820fd82/Assets/Object/MobileAssembly/pen_holder_a05/Object.usd",
+                            "pose": {
+                                "pos": [
+                                    -2.00909,
+                                    1.39584,
+                                    0.48
+                                ],
+                                "ori": [
+                                    0.9993094205856323,
+                                    0.0,
+                                    0.0,
+                                    -0.03715674951672554
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "cap": [
+                        {
+                            "asset": "/mnt/scratch/xc536_atomic_local/repo_b3820fd82/Assets/Object/MobileAssembly/cap_a05/Object.usd",
+                            "pose": {
+                                "pos": [
+                                    -2.0943500995635986,
+                                    1.4021883010864258,
+                                    0.4789016842842102
+                                ],
+                                "ori": [
+                                    0.9993117451667786,
+                                    -0.0018654465675354004,
+                                    7.035210728645325e-05,
+                                    -0.037047129124403
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "rigid",
+                                    "collision": true,
+                                    "mass": 0.01439,
+                                    "physics_material": {
+                                        "static_friction": 0.6,
+                                        "dynamic_friction": 0.5,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "linear_velocity": [
+                                    0.00045737624168395996,
+                                    -0.0003914012049790472,
+                                    0.0002357840712647885
+                                ],
+                                "angular_velocity": [
+                                    -0.027762390673160553,
+                                    -0.03599081188440323,
+                                    0.018535243347287178
+                                ]
+                            }
+                        }
+                    ]
+                }
+            ],
+            "artifacts": [
+                {}
+            ],
+            "background": {
+                "type": "dome",
+                "pose": {
+                    "pos": null,
+                    "ori": null,
+                    "scale": null
+                },
+                "dr": {
+                    "intensity": 873.08239,
+                    "texture": null,
+                    "color": [
+                        0.85,
+                        0.85,
+                        0.85
+                    ]
+                }
+            }
+        },
+        "robots": {
+            "RidgebackSawyerUmi": {
+                "root_pose": [
+                    [
+                        -3.7255899906158447,
+                        -2.557460069656372,
+                        0.05999999865889549,
+                        0.8645236492156982,
+                        0.0,
+                        0.0,
+                        0.5025920867919922
+                    ]
+                ],
+                "root_vel": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ],
+                "joint_pos": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        -1.600000023841858,
+                        0.0,
+                        0.5,
+                        0.0,
+                        2.700000047683716,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ],
+                "joint_vel": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ]
+            }
+        },
+        "cameras": {
+            "cameras": {
+                "head": [
+                    [
+                        0.21660000085830688,
+                        0.0,
+                        -0.04500000178813934,
+                        -0.6743797063827515,
+                        0.21263112127780914,
+                        -0.21263112127780914,
+                        0.6743797659873962
+                    ]
+                ],
+                "wrist": [
+                    [
+                        0.05979999899864197,
+                        0.0,
+                        0.029999999329447746,
+                        6.123234262925839e-17,
+                        0.7071067690849304,
+                        0.7071067690849304,
+                        -4.329780301713277e-17
+                    ]
+                ]
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/sim_info/0/sim_states.npz b/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/sim_info/0/sim_states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4443eed25e40fe6b7772112e49dedf9040ccde08
--- /dev/null
+++ b/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/sim_info/0/sim_states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ebe83b7271de6ea819ffce929cc1d31022641191e1aec373bb81c365cb18743
+size 239017
diff --git a/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/sim_info/magicsim_manifest.json b/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/sim_info/magicsim_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..007b082bdb9a6fee406d45857c62d67130bffe91
--- /dev/null
+++ b/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/sim_info/magicsim_manifest.json
@@ -0,0 +1,233 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 00:16:37"
+    },
+    "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
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "stationassembly/000",
+        "task_type": "StationAssembly"
+    }
+}
\ No newline at end of file
diff --git a/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/visual_dr.json b/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/visual_dr.json
new file mode 100644
index 0000000000000000000000000000000000000000..756f7b8ae5fbd7756e95727721b1f1e755ffcd06
--- /dev/null
+++ b/N023/sawyer_umi/dr_on/seed_2030/stationassembly/000/visual_dr.json
@@ -0,0 +1,674 @@
+{
+ "version": 1,
+ "settings": {
+  "enabled": false,
+  "keep": [
+   "cap",
+   "pen_holder"
+  ],
+  "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": 2030,
+   "seeds": {
+    "0": 2030
+   },
+   "lights": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
+     "type": "RectLight",
+     "intensity": 17351.282444,
+     "intensity_base": 15000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 5485.045698,
+     "rotate_deg": [
+      -4.426,
+      -4.075,
+      -1.627
+     ]
+    }
+   ],
+   "domes": [
+    {
+     "path": "/World/background",
+     "type": "DomeLight",
+     "intensity": 585.37317,
+     "intensity_base": 873.0824,
+     "enable_color_temperature": true,
+     "color_temperature_k": 5172.415433,
+     "rotate_deg": [
+      0.0,
+      0.0,
+      119.09
+     ],
+     "dome": {
+      "path": "/World/background",
+      "hdr_base": null,
+      "color": [
+       0.76806,
+       0.698785,
+       0.71502
+      ]
+     }
+    }
+   ],
+   "materials": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "shader": "omnipbr",
+     "color": [
+      0.7591,
+      0.9478,
+      0.749
+     ],
+     "color_base": [
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+      1.0,
+      1.0
+     ],
+     "roughness": 0.469191,
+     "roughness_base": 0.5,
+     "bound_prims": 1
+    }
+   ],
+   "display_colors": [],
+   "swapped": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor",
+     "role": "ground",
+     "mdl": "Source/Wood/Wood_Tiles_Walnut.mdl",
+     "material": "/MmbVdrLooks/Source_Wood_Wood_Tiles_Walnut",
+     "bound_prims": 1,
+     "pool_size": 42,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic",
+     "role": "wall",
+     "mdl": "Source/Paint/Paint_Gun_Metal.mdl",
+     "material": "/MmbVdrLooks/Source_Paint_Paint_Gun_Metal",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Paint/Chalk_Paint.mdl",
+     "material": "/MmbVdrLooks/Source_Paint_Chalk_Paint",
+     "bound_prims": 22,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
+     "role": "wall",
+     "mdl": "Source/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl",
+     "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway",
+     "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": {
+    "cap": 49,
+    "pen_holder": 7
+   },
+   "physics_skip": {
+    "physics_binding": 57,
+    "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": 2030,
+   "seeds": {
+    "0": 2030
+   },
+   "lights": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
+     "type": "RectLight",
+     "intensity": 17351.282444,
+     "intensity_base": 15000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 5485.045698,
+     "rotate_deg": [
+      -4.426,
+      -4.075,
+      -1.627
+     ]
+    }
+   ],
+   "domes": [
+    {
+     "path": "/World/background",
+     "type": "DomeLight",
+     "intensity": 585.37317,
+     "intensity_base": 873.0824,
+     "enable_color_temperature": true,
+     "color_temperature_k": 5172.415433,
+     "rotate_deg": [
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+      0.0,
+      119.09
+     ],
+     "dome": {
+      "path": "/World/background",
+      "hdr_base": null,
+      "color": [
+       0.76806,
+       0.698785,
+       0.71502
+      ]
+     }
+    }
+   ],
+   "materials": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "shader": "omnipbr",
+     "color": [
+      0.7591,
+      0.9478,
+      0.749
+     ],
+     "color_base": [
+      1.0,
+      1.0,
+      1.0
+     ],
+     "roughness": 0.469191,
+     "roughness_base": 0.5,
+     "bound_prims": 1
+    }
+   ],
+   "display_colors": [],
+   "swapped": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor",
+     "role": "ground",
+     "mdl": "Source/Wood/Wood_Tiles_Walnut.mdl",
+     "material": "/MmbVdrLooks/Source_Wood_Wood_Tiles_Walnut",
+     "bound_prims": 1,
+     "pool_size": 42,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic",
+     "role": "wall",
+     "mdl": "Source/Paint/Paint_Gun_Metal.mdl",
+     "material": "/MmbVdrLooks/Source_Paint_Paint_Gun_Metal",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Paint/Chalk_Paint.mdl",
+     "material": "/MmbVdrLooks/Source_Paint_Chalk_Paint",
+     "bound_prims": 22,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
+     "role": "wall",
+     "mdl": "Source/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl",
+     "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway",
+     "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": {
+    "cap": 49,
+    "pen_holder": 7
+   },
+   "physics_skip": {
+    "physics_binding": 57,
+    "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
+    }
+   ]
+  }
+ ]
+}
\ No newline at end of file
diff --git a/N045/sawyer_umi/dr_on/seed_2030/check.json b/N045/sawyer_umi/dr_on/seed_2030/check.json
new file mode 100644
index 0000000000000000000000000000000000000000..605f8298a102ccc0af0af9d39ec67940f8dbb008
--- /dev/null
+++ b/N045/sawyer_umi/dr_on/seed_2030/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 faucet, wait for the person standing there to walk away, then push its lever over to turn it off.'; expected 'Go to the faucet, wait for the person standing there to walk away, then push its lever over to turn it off.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1406 rows vs ceil(2811/2) = 1406"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 151..2961, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "24.42 MB, 1406 frames at 25 fps, mean luma 25..62, std 30, new picture 1405x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1406 vs 1406"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "27.47 MB, 1406 frames at 25 fps, mean luma 52..82, std 33, new picture 1405x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1406 vs 1406"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "phaserun/000/sim_info"
+  }
+ }
+}
\ No newline at end of file
diff --git a/N045/sawyer_umi/dr_on/seed_2030/check.txt b/N045/sawyer_umi/dr_on/seed_2030/check.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e40ccc55c80f1dd5e86086bee153c1cb3164cd88
--- /dev/null
+++ b/N045/sawyer_umi/dr_on/seed_2030/check.txt
@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n045_saw_on_2030/out  task=N045  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n045_saw_on_2030/out/phaserun/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1406  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: 1406 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 faucet, wait for the person standing there to walk away, then push its lever over to turn it off.'; expected 'Go to the faucet, wait for the person standing there to walk away, then push its lever over to turn it off.'
+rows 1406 at dataset fps 25 = 56.24 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1406 rows vs ceil(2811/2) = 1406
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 151..2961, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 24.42 MB, 1406 frames at 25 fps, mean luma 25..62, std 30, new picture 1405x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1406 vs 1406
+[PASS] video observation.images.wrist decodes, 640x480, not black: 27.47 MB, 1406 frames at 25 fps, mean luma 52..82, std 33, new picture 1405x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1406 vs 1406
+parquet size 4.14 MB
+[PASS] sim_info present: phaserun/000/sim_info
+dataset size 56.39 MB; whole cell dir 60.9 MB
+RESULT: ALL PASS
diff --git a/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/completed/0.json b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/completed/0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6705c46699648249dc7b5f97844b6f9338dc79c8
--- /dev/null
+++ b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/completed/0.json
@@ -0,0 +1 @@
+{"run_id": "phaserun/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null}
\ No newline at end of file
diff --git a/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..33c4d2c42669a467c7007524ed25a63225cd0c7c
--- /dev/null
+++ b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b62dbbac029489914667c1583548aac8ed0a9663f76404708d284ecd17d888d0
+size 4142484
diff --git a/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/meta/episodes.jsonl b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..c859efae2cfd59aa1ddfad7d9f1fe530bbf23ecd
--- /dev/null
+++ b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the faucet, wait for the person standing there to walk away, then push its lever over to turn it off."], "length": 1406, "magicsim/control_steps": 2811, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray plinth. There are a large gray plinth and a large faucet. The faucet is on top of the gray plinth. The scene is viewed from front-left, at table height."}
diff --git a/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/meta/episodes_stats.jsonl b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..af6f0dff24c2ed2a32ebc979c96ea777c21cd9ea
--- /dev/null
+++ b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"action": {"mean": [0.10272584762291752, 0.003398667988506481, 0.03136579771896269, -0.35823339342562266, 0.5231658645175599, 1.1797236075696362, 0.17197521782319883, 0.22751504432934616, -0.04203995863262677, -0.4757286479480081, 0.32930298719772405], "std": [0.13641904153533355, 0.010712145165346663, 0.12936793499579663, 1.231114942630408, 0.6332167258362672, 0.179926588680908, 0.39727289586885894, 0.6423340252911236, 0.15532282749891002, 0.30989087101638463, 0.46996013641624435], "min": [0.0, -0.002649359405040741, 0.0, -3.313109874725342, -0.2531546950340271, 0.917900025844574, -0.48843809962272644, -0.7071068286895752, -0.47199010848999023, -0.7172017693519592, 0.0], "max": [0.30000001192092896, 0.11150573194026947, 0.800000011920929, 1.0931518077850342, 2.776994466781616, 1.3033833503723145, 0.7071068286895752, 0.6968628764152527, 0.09265309572219849, 0.005200887564569712, 1.0], "count": [1406]}, "action_is_hold": {"mean": [0.20056899004267426, 0.20056899004267426, 0.20056899004267426, 0.20910384068278806, 0.20910384068278806, 0.20910384068278806, 0.20910384068278806, 0.20910384068278806, 0.20910384068278806, 0.20910384068278806, 0.9914651493598862], "std": [0.40042611088182134, 0.40042611088182134, 0.40042611088182134, 0.4066686913133316, 0.4066686913133316, 0.4066686913133316, 0.4066686913133316, 0.4066686913133316, 0.4066686913133316, 0.4066686913133316, 0.09198916764850468], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "count": [1406]}, "observation.state": {"mean": [-0.9246233910279796, 6.206929721160769, -0.24810240859666555, 0.05060873211072759, -0.05021847729044578, -1.8900934454387486, -0.20126509582299895, 0.7928708541613724, -0.03557607755899215, 2.263504009614374, 0.3362692021734011, 6.075999966979131e-07, -1.228372680529157e-06, -1.228372680529157e-06, -6.075999966979131e-07], "std": [0.6994284619435077, 1.29439368045996, 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diff --git a/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/meta/extra/episode_000000.json b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/meta/extra/episode_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d791fab3abd1ac81f5f4829749b5f264e48be9b
--- /dev/null
+++ b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/meta/extra/episode_000000.json
@@ -0,0 +1,254 @@
+{
+ "episode_index": 0,
+ "trajectory_id": 0,
+ "env_id": 0,
+ "task_type": "PhaseRun",
+ "subsample_every": 2,
+ "control_steps": 2811,
+ "language": {
+  "scene": {
+   "objects": [
+    {
+     "id": "plinth_1",
+     "cat_name": "plinth",
+     "inst_id": 1,
+     "noun": "plinth",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      2.667747976253904,
+      4.900087373759112,
+      0.27245003749317614
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0,
+       0.9999999999999999
+      ],
+      "center": [
+       0.0,
+       8.326672684688674e-17,
+       -5.551115123125783e-17
+      ]
+     }
+    },
+    {
+     "id": "faucet_1",
+     "cat_name": "faucet",
+     "inst_id": 1,
+     "noun": "faucet",
+     "color": null,
+     "size": "large",
+     "material": null,
+     "category": "articulation",
+     "pos": [
+      2.6488888025926927,
+      4.910201727697416,
+      0.7461000488543024
+     ],
+     "bbox": {
+      "extent": [
+       0.6024056654418795,
+       0.5887759198480378,
+       0.8399150053670539
+      ],
+      "center": [
+       -0.041081267948181455,
+       -0.027010283095459692,
+       -0.05928649311846135
+      ]
+     }
+    }
+   ],
+   "relations": [
+    {
+     "subject": "faucet_1",
+     "relation": "on_top_of",
+     "object": "plinth_1"
+    }
+   ],
+   "cameras": [
+    {
+     "name": "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_robot": [
+      2.961535497714315,
+      3.9405226628819476,
+      -0.10499998573522677
+     ],
+     "viewpoint": "front-left, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        -8.039232568535226e-08,
+        -0.9999999999999964,
+        2.5347603738179458e-08
+       ],
+       [
+        0.8191520331270514,
+        -8.039232568535226e-08,
+        -0.5735764522919431
+       ],
+       [
+        0.5735764522919431,
+        -2.5347603738179458e-08,
+        0.819152033127055
+       ]
+      ],
+      "t": [
+       1.855362002599171e-08,
+       -0.2032392724571752,
+       -0.08737481710326404
+      ]
+     }
+    },
+    {
+     "name": "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_robot": [
+      2.9766378824488324,
+      3.784451656606817,
+      -0.02999998755904216
+     ],
+     "viewpoint": "front-left, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        0.0,
+        1.0,
+        -1.4782795217992896e-16
+       ],
+       [
+        1.0,
+        0.0,
+        2.5363269588459423e-17
+       ],
+       [
+        2.5363269588459423e-17,
+        -1.4782795217992896e-16,
+        -1.0
+       ]
+      ],
+      "t": [
+       4.4348384662715026e-18,
+       -0.05979999899864197,
+       0.029999999329447746
+      ]
+     }
+    }
+   ],
+   "robots": [
+    {
+     "name": "RidgebackSawyerUmi",
+     "model": "ridgebacksawyer_umi",
+     "type": "mobilemanip",
+     "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
+       -3.420556019050766,
+       3.327547191041724,
+       0.06
+      ],
+      "ori": [
+       0.6719673275947571,
+       0.0,
+       0.0,
+       -0.7405807971954346
+      ]
+     },
+     "facing_yaw_deg": -95.56182816982607,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1289.6398767091055,
+    "ambient": "bright"
+   },
+   "effects": [],
+   "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray plinth. There are a large gray plinth and a large faucet. The faucet is on top of the gray plinth. The scene is viewed from front-left, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n[faucet]\n\n\n\n\n\n\n\n                        [robot]"
+  },
+  "task": {
+   "task_type": "PhaseRun",
+   "instruction": "Go to the faucet, wait for the person standing there to walk away, then push its lever over to turn it off.",
+   "template_id": -1,
+   "slots": {
+    "obj": 0.09927083642817368,
+    "support": null
+   },
+   "generic_instruction": "Phaserun the 0.09927083642817368.",
+   "task_id": "N045",
+   "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
+}
\ No newline at end of file
diff --git a/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/meta/info.json b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..75c7bd3c18a4913296afa57ece6111148455c71e
--- /dev/null
+++ b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/meta/info.json
@@ -0,0 +1,977 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "RidgebackSawyerUmiCfg",
+    "total_episodes": 1,
+    "total_frames": 1406,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                11
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "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": {
+            "dtype": "bool",
+            "shape": [
+                11
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "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",
+            "shape": [
+                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"
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+                "avatar_motion.Person.joint_rot.247",
+                "avatar_motion.Person.joint_rot.248",
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+                "avatar_motion.Person.joint_rot.260",
+                "avatar_motion.Person.joint_rot.261",
+                "avatar_motion.Person.joint_rot.262",
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+                "avatar_motion.Person.joint_rot.264",
+                "avatar_motion.Person.joint_rot.265",
+                "avatar_motion.Person.joint_rot.266",
+                "avatar_motion.Person.joint_rot.267",
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+                "avatar_motion.Person.joint_rot.295",
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+                "avatar_motion.Person.joint_rot.304",
+                "avatar_motion.Person.joint_rot.305",
+                "avatar_motion.Person.joint_rot.306",
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+                "avatar_motion.Person.joint_rot.335",
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+                "avatar_motion.Person.joint_rot.343",
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+                "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",
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+                "avatar_motion.Person.joint_rot.364",
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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",
+                "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",
+                "object_joint_pos.faucet.0",
+                "object_joint_vel.faucet.0",
+                "object_pose.faucet.0",
+                "object_pose.faucet.1",
+                "object_pose.faucet.2",
+                "object_pose.faucet.3",
+                "object_pose.faucet.4",
+                "object_pose.faucet.5",
+                "object_pose.faucet.6",
+                "object_pose.plinth.0",
+                "object_pose.plinth.1",
+                "object_pose.plinth.2",
+                "object_pose.plinth.3",
+                "object_pose.plinth.4",
+                "object_pose.plinth.5",
+                "object_pose.plinth.6"
+            ]
+        },
+        "action.command": {
+            "dtype": "float32",
+            "shape": [
+                704
+            ],
+            "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
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/meta/magicsim_manifest.json b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/meta/magicsim_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..d05611268b9f2ca56ea6331ab745df1cf8b7d8f0
--- /dev/null
+++ b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/meta/magicsim_manifest.json
@@ -0,0 +1,264 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 00:13:14"
+    },
+    "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": {
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+    "generated_run": {
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+}
\ No newline at end of file
diff --git a/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/meta/stats.json b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2f04c16c572e64f389a75ea213ce5b6bc38df2a
--- /dev/null
+++ b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/meta/stats.json
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+            [
+                [
+                    0.2075967547764128
+                ]
+            ],
+            [
+                [
+                    0.17389698289579159
+                ]
+            ],
+            [
+                [
+                    0.14100204030022423
+                ]
+            ]
+        ],
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    0.9686274509803922
+                ]
+            ],
+            [
+                [
+                    0.9529411764705882
+                ]
+            ],
+            [
+                [
+                    0.9411764705882353
+                ]
+            ]
+        ],
+        "count": [
+            100
+        ]
+    }
+}
\ No newline at end of file
diff --git a/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/meta/tasks.jsonl b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/meta/tasks.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..6c8632b33b1bcc33fea990985232dc5c791df512
--- /dev/null
+++ b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/meta/tasks.jsonl
@@ -0,0 +1 @@
+{"task_index": 0, "task": "Go to the faucet, wait for the person standing there to walk away, then push its lever over to turn it off."}
diff --git a/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..04ca3ab315aaa47deb6b62121f72a79488ef8f40
--- /dev/null
+++ b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f72557c2ef593cbaa69813125368ab56cab4729fa63a252b98d4e6482231b57c
+size 24424228
diff --git a/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b0177a916dc05e9a7308aaca2bf0c4bb99899d44
--- /dev/null
+++ b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:255bd5a48efc31e39685b846634aadd59935492909448b475640ee0dd4af8433
+size 27472665
diff --git a/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/run_meta.json b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/run_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9705be9eeae7965c285a9edfb5f821312576062a
--- /dev/null
+++ b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/run_meta.json
@@ -0,0 +1,645 @@
+{
+    "run_id": "phaserun/000",
+    "created": "2026-11-09 23:59:42",
+    "num_envs": 1,
+    "session_id": null,
+    "record_config": {
+        "output_dir": "/mnt/scratch/xc536_atomic/n045_saw_on_2030/out",
+        "formats": [
+            "lerobot_v21",
+            "sim_info"
+        ],
+        "clear_buffer_on_failure": true,
+        "lerobot": {
+            "subsample_every": 2
+        }
+    },
+    "config": {
+        "env": {
+            "sim": {
+                "device": "cpu",
+                "use_fabric": false,
+                "decimation": 4,
+                "dt": 0.005,
+                "seed": 2030,
+                "soft_resets": 100,
+                "scene": {
+                    "num_envs": 1,
+                    "env_spacing": 14
+                },
+                "render": {
+                    "rendering_mode": "performance",
+                    "enable_reflections": false,
+                    "enable_global_illumination": false,
+                    "enable_translucency": false,
+                    "enable_dl_denoiser": false
+                }
+            },
+            "robot": {
+                "RidgebackSawyerUmi": {
+                    "name": "ridgebacksawyer_umi",
+                    "type": "mobilemanip",
+                    "common": {
+                        "pos": [
+                            [
+                                -3.420556019050766,
+                                3.327547191041724,
+                                0.06
+                            ],
+                            [
+                                -3.420556019050766,
+                                3.327547191041724,
+                                0.06
+                            ]
+                        ],
+                        "ori": [
+                            [
+                                0,
+                                0,
+                                -95.56182419640461
+                            ],
+                            [
+                                0,
+                                0,
+                                -95.56182419640461
+                            ]
+                        ],
+                        "initial_joint_pos": {
+                            "dummy_base_.*": 0.0,
+                            "head_pan": 0.0,
+                            "right_j0": 0.0,
+                            "right_j1": -1.6,
+                            "right_j2": 0.0,
+                            "right_j3": 0.5,
+                            "right_j4": 0.0,
+                            "right_j5": 2.7,
+                            "right_j6": 0.0,
+                            "right_gripper_l_finger_joint": 0.0,
+                            "right_gripper_r_finger_joint": 0.0
+                        }
+                    },
+                    "action": {
+                        "base_action": "holonomic_action",
+                        "arm_action": "ik_pink",
+                        "eef_action": "binary"
+                    },
+                    "planner": {
+                        "dual_mode": true,
+                        "base_joint_names": [
+                            "dummy_base_prismatic_x_joint",
+                            "dummy_base_prismatic_y_joint",
+                            "dummy_base_revolute_z_joint"
+                        ],
+                        "ik": {
+                            "type": "ridgebacksawyer_umi",
+                            "model_tuning": "ridgeback_sawyer_umi",
+                            "enable": true,
+                            "ik_num_instances": 1,
+                            "ik_batch_size": 1,
+                            "ik_num_seeds": 32,
+                            "ik_max_goalset": 64,
+                            "ik_position_threshold": 0.005,
+                            "ik_rotation_threshold": 0.05,
+                            "microbatch_wait_ms": 20.0,
+                            "relative_to_world_frame": false
+                        },
+                        "motiongen": {
+                            "type": "ridgebacksawyer_umi",
+                            "model_tuning": "ridgeback_sawyer_umi",
+                            "enable": true,
+                            "motiongen_num_instances": 1,
+                            "max_attempts": 6,
+                            "batch_size": 1,
+                            "microbatch_wait_ms": 20.0,
+                            "mode": "position",
+                            "relative_to_world_frame": false,
+                            "start_state_limit_inset": 0.002,
+                            "num_trajopt_seeds": 1,
+                            "num_ik_seeds": 4
+                        },
+                        "body": {
+                            "type": "nav",
+                            "dwb_type": "dwb_holonomic",
+                            "dwb_holonomic": {
+                                "device": "cpu",
+                                "dt": 0.02,
+                                "debug": false,
+                                "num_rollout_steps": 60,
+                                "num_speed_samples": 11,
+                                "num_steer_samples": 11,
+                                "num_vx_samples": 7,
+                                "num_vy_samples": 7,
+                                "num_yaw_samples": 7,
+                                "max_accel": 1.5,
+                                "max_steer_rate": 1.5,
+                                "max_accel_vx": 1.5,
+                                "max_accel_vy": 1.5,
+                                "max_yaw_accel": 1.5,
+                                "w_goal": 6.0,
+                                "w_path": 8.0,
+                                "w_vel": 0.2,
+                                "w_vy": 0.0,
+                                "goal_cost_mode": "path",
+                                "dilate_radius": 0.36,
+                                "room_size": 12.0,
+                                "occupancy_update_interval": 25,
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+                                "scan_min_z": 0.15,
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+                                "goal_pos_threshold": 0.03,
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+                                "kp_goal_yaw": 1.5,
+                                "heading_reference": "path",
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+                                "goal_yaw_hysteresis": 0.02,
+                                "min_vx": -0.3,
+                                "max_vx": 0.3,
+                                "min_vy": -0.3,
+                                "max_vy": 0.3,
+                                "min_yaw_rate": -0.8,
+                                "max_yaw_rate": 0.8,
+                                "safety_enabled": true,
+                                "safety_deceleration": 0.5,
+                                "safety_reaction_time": 0.5,
+                                "scan_type": "3d"
+                            },
+                            "p_controller": {
+                                "kp_angular_turning_only": 2.0,
+                                "kd_angular_turning_only": 1.0,
+                                "kp_linear_x": 3.0,
+                                "kp_linear_y": 3.0,
+                                "kp_angular": 2.0,
+                                "kd_linear_x": 1.0,
+                                "kd_linear_y": 1.0,
+                                "min_vel": -0.4,
+                                "max_vel": 0.5,
+                                "linear_dead_zone": 0.01,
+                                "angular_dead_zone": 0.05,
+                                "nav_heading_target": -1,
+                                "nav_upgrade_distance": 0.03
+                            }
+                        },
+                        "arm": {
+                            "type": "default"
+                        },
+                        "eef": {
+                            "type": "default"
+                        }
+                    },
+                    "physics": {
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+                        "wheel_base": 0.01
+                    },
+                    "reset": "default"
+                }
+            },
+            "camera": {
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+                "colorize_depth": false,
+                "head": {
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+                            480
+                        ],
+                        "frequency": 25,
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+                        "vertical_aperture": 2.7,
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+                            0.05,
+                            30.0
+                        ],
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+                        "mode": "RGB",
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+                            -0.045
+                        ],
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+                            35.0,
+                            -90.0
+                        ]
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+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
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+                },
+                "wrist": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 1.8,
+                        "horizontal_aperture": 3.6,
+                        "vertical_aperture": 2.7,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/right_electric_gripper_base",
+                        "pos": [
+                            0.0598,
+                            0.0,
+                            0.03
+                        ],
+                        "ori": [
+                            180.0,
+                            0.0,
+                            -90.0
+                        ]
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+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                }
+            },
+            "scene": {
+                "terrain": {
+                    "type": "nav_room",
+                    "collision": true,
+                    "hide_top_walls": true,
+                    "usd": [
+                        "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom"
+                    ],
+                    "annotation": "Annotation",
+                    "random": false,
+                    "pos": [
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "ori": [
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "scale": [
+                        1.0,
+                        1.0,
+                        1.0
+                    ],
+                    "physics_material": {
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+                        "dynamic_friction": 1.0,
+                        "restitution": 0.0,
+                        "friction_combine_mode": "multiply",
+                        "restitution_combine_mode": "multiply"
+                    }
+                },
+                "background": {
+                    "intensity": [
+                        954.1481182836333,
+                        2128.2429137543536
+                    ]
+                },
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+                    "plinth": {
+                        "usd": [
+                            "Cylinder"
+                        ],
+                        "num_per_env": 1,
+                        "random": false,
+                        "common": {
+                            "pos": [
+                                1.2,
+                                0.2,
+                                0.28
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                0.24,
+                                0.24,
+                                0.5
+                            ]
+                        },
+                        "plinth_1": {
+                            "primitive_params": {
+                                "radius": 0.5,
+                                "height": 1.0
+                            },
+                            "visual": {
+                                "color": [
+                                    0.55,
+                                    0.45,
+                                    0.35
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            },
+                            "pos": [
+                                1.2,
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+                                0.33245
+                            ],
+                            "ori": [
+                                0.0,
+                                0.0,
+                                0.0
+                            ],
+                            "scale": [
+                                0.24,
+                                0.24,
+                                0.6049
+                            ]
+                        }
+                    },
+                    "faucet": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/MobileAvatar/faucet_1053.usda"
+                        ],
+                        "num_per_env": 1,
+                        "random": false,
+                        "common": {
+                            "pos": [
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+                                "type": "articulation"
+                            }
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+                }
+            },
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+                    "visualize": false,
+                    "bake_timeout_s": 180,
+                    "agent_height_cm": 150,
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+                    "max_floor_slope_deg": 30,
+                    "agent_island_radius_cm": 5,
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+                    "validate_path_clearance": true,
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+                    "verbose": false
+                },
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+                }
+            },
+            "anim": {
+                "avatar": {
+                    "graph": "magic",
+                    "Person": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Avatar/Medical/F_Medical_01/F_Medical_01.usd"
+                        ],
+                        "num_per_env": 1,
+                        "random": false,
+                        "common": {
+                            "pos": [
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+                                0.03
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+                                0,
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+                                "representation": "bone_rigid",
+                                "friction": 1.0,
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+            },
+            "mmb": {
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+                "scene_seed": 2030,
+                "levels": {
+                    "easy": {
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+                        "lever_start": "ON angle 60 +- 4 deg; faucet and lever unchanged"
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+                    "carry_arm": true
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+                "clear_buffer_on_failure": true,
+                "lerobot": {
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+        },
+        "env_string": "N045FaucetEnv-V0",
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+            ]
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+    },
+    "git_sha": null,
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}
\ No newline at end of file
diff --git a/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/sim_info/0/actions.npz b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/sim_info/0/actions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..9c233c3de4b4a2f4dfb006b8b9a08a4a491cb226
--- /dev/null
+++ b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/sim_info/0/actions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c834f7736374698dc5144bc80228c30859fef87c7221f03c6246c98f7214dd44
+size 270192
diff --git a/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/sim_info/0/device_commands.jsonl b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/sim_info/0/device_commands.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/sim_info/0/device_events.jsonl b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/sim_info/0/device_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/sim_info/0/scene_snapshot.json b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/sim_info/0/scene_snapshot.json
new file mode 100644
index 0000000000000000000000000000000000000000..b37d89647b554a5fa4f4615871e3e2ed7a50e8dc
--- /dev/null
+++ b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/sim_info/0/scene_snapshot.json
@@ -0,0 +1,528 @@
+{
+    "trajectory_id": 0,
+    "env_id": 0,
+    "run_id": "phaserun/000",
+    "task_type": "PhaseRun",
+    "success": true,
+    "timing": {
+        "fps": 50.0,
+        "sim_dt": 0.005,
+        "decimation": 4
+    },
+    "restore_interface": {
+        "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
+    },
+    "snapshot": {
+        "env_id": 0,
+        "scene": {
+            "objects": [
+                {
+                    "plinth": [
+                        {
+                            "asset": "Cylinder",
+                            "pose": {
+                                "pos": [
+                                    1.2,
+                                    0.2,
+                                    0.33245
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.24,
+                                    0.24,
+                                    0.6049
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.55,
+                                        0.45,
+                                        0.35
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "radius": 0.5,
+                                    "height": 1.0
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "faucet": [
+                        {
+                            "asset": "/mnt/scratch/xc536_atomic_local/repo_b3820fd82/Assets/MobileAvatar/faucet_1053.usda",
+                            "pose": {
+                                "pos": [
+                                    1.211883783340454,
+                                    0.21779732406139374,
+                                    0.8061000108718872
+                                ],
+                                "ori": [
+                                    -0.22342842817306519,
+                                    0.0,
+                                    0.0,
+                                    0.6627004146575928
+                                ],
+                                "scale": [
+                                    0.3572,
+                                    0.3572,
+                                    0.3572
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "articulation",
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "joint_position": [
+                                    1.0471975803375244
+                                ],
+                                "joint_velocity": [
+                                    0.0
+                                ],
+                                "linear_velocity": [
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "angular_velocity": [
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ]
+                            }
+                        }
+                    ]
+                }
+            ],
+            "artifacts": [
+                {}
+            ],
+            "background": {
+                "type": "dome",
+                "pose": {
+                    "pos": null,
+                    "ori": null,
+                    "scale": null
+                },
+                "dr": {
+                    "intensity": 1289.6398767091055,
+                    "texture": null,
+                    "color": [
+                        0.85,
+                        0.85,
+                        0.85
+                    ]
+                }
+            }
+        },
+        "robots": {
+            "RidgebackSawyerUmi": {
+                "root_pose": [
+                    [
+                        -3.42055606842041,
+                        3.327547073364258,
+                        0.05999999865889549,
+                        0.6719673871994019,
+                        0.0,
+                        0.0,
+                        -0.7405807375907898
+                    ]
+                ],
+                "root_vel": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ],
+                "joint_pos": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        -1.600000023841858,
+                        0.0,
+                        0.5,
+                        0.0,
+                        2.700000047683716,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ],
+                "joint_vel": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ]
+            }
+        },
+        "avatars": {
+            "Person_1": {
+                "cat": "Person",
+                "inst_id": 1,
+                "asset": [
+                    "usd",
+                    "/mnt/scratch/xc536_atomic_local/repo_b3820fd82/Assets/Avatar/Medical/F_Medical_01/F_Medical_01.usd"
+                ],
+                "scale": [
+                    1.0,
+                    1.0,
+                    1.0
+                ],
+                "joint_names": [
+                    "RL_BoneRoot",
+                    "Hip",
+                    "Pelvis",
+                    "L_Thigh",
+                    "L_Calf",
+                    "L_Foot",
+                    "L_ToeBaseShareBone",
+                    "L_ToeBase",
+                    "L_PinkyToe1",
+                    "L_RingToe1",
+                    "L_MidToe1",
+                    "L_IndexToe1",
+                    "L_BigToe1",
+                    "L_CalfTwist01",
+                    "L_CalfTwist02",
+                    "L_KneeShareBone",
+                    "L_ThighTwist01",
+                    "L_ThighTwist02",
+                    "R_Thigh",
+                    "R_Calf",
+                    "R_KneeShareBone",
+                    "R_Foot",
+                    "R_ToeBase",
+                    "R_BigToe1",
+                    "R_PinkyToe1",
+                    "R_RingToe1",
+                    "R_IndexToe1",
+                    "R_MidToe1",
+                    "R_ToeBaseShareBone",
+                    "R_CalfTwist01",
+                    "R_CalfTwist02",
+                    "R_ThighTwist01",
+                    "R_ThighTwist02",
+                    "Waist",
+                    "Spine01",
+                    "Spine02",
+                    "NeckTwist01",
+                    "NeckTwist02",
+                    "Head",
+                    "FacialBone",
+                    "JawRoot",
+                    "Tongue01",
+                    "Tongue02",
+                    "Tongue03",
+                    "Teeth02",
+                    "R_Eye",
+                    "L_Eye",
+                    "UpperJaw",
+                    "Teeth01",
+                    "L_Clavicle",
+                    "L_Upperarm",
+                    "L_Forearm",
+                    "L_ForearmTwist01",
+                    "L_ForearmTwist02",
+                    "L_ElbowShareBone",
+                    "L_Hand",
+                    "L_Pinky1",
+                    "L_Pinky2",
+                    "L_Pinky3",
+                    "L_Ring1",
+                    "L_Ring2",
+                    "L_Ring3",
+                    "L_Mid1",
+                    "L_Mid2",
+                    "L_Mid3",
+                    "L_Index1",
+                    "L_Index2",
+                    "L_Index3",
+                    "L_Thumb1",
+                    "L_Thumb2",
+                    "L_Thumb3",
+                    "L_UpperarmTwist01",
+                    "L_UpperarmTwist02",
+                    "L_RibsTwist",
+                    "L_Breast",
+                    "R_RibsTwist",
+                    "R_Breast",
+                    "R_Clavicle",
+                    "R_Upperarm",
+                    "R_Forearm",
+                    "R_ElbowShareBone",
+                    "R_ForearmTwist01",
+                    "R_ForearmTwist02",
+                    "R_Hand",
+                    "R_Ring1",
+                    "R_Ring2",
+                    "R_Ring3",
+                    "R_Mid1",
+                    "R_Mid2",
+                    "R_Mid3",
+                    "R_Thumb1",
+                    "R_Thumb2",
+                    "R_Thumb3",
+                    "R_Index1",
+                    "R_Index2",
+                    "R_Index3",
+                    "R_Pinky1",
+                    "R_Pinky2",
+                    "R_Pinky3",
+                    "R_UpperarmTwist01",
+                    "R_UpperarmTwist02"
+                ],
+                "start_state": {
+                    "asset": [
+                        "usd",
+                        "/mnt/scratch/xc536_atomic_local/repo_b3820fd82/Assets/Avatar/Medical/F_Medical_01/F_Medical_01.usd"
+                    ],
+                    "pose": {
+                        "pos": [
+                            0.6856897473335266,
+                            0.31952545046806335,
+                            0.029999999329447746
+                        ],
+                        "ori": [
+                            0.9949223399162292,
+                            0.0,
+                            0.0,
+                            -0.10064609348773956
+                        ],
+                        "scale": [
+                            1.0,
+                            1.0,
+                            1.0
+                        ]
+                    },
+                    "type_specific": {
+                        "action_queue": {
+                            "queue": [],
+                            "loop": false,
+                            "current": null
+                        },
+                        "character_state": {
+                            "Action": "None",
+                            "Walk": 0.0,
+                            "PathPoints": [
+                                [
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ]
+                            ],
+                            "lookAround": 0.0,
+                            "SitWeight": 1.0,
+                            "MotionInPlace": 1.0
+                        },
+                        "control_state": {
+                            "mode": "animation",
+                            "ik_backend": "animgraph",
+                            "curobo_base": null,
+                            "joint_names": [
+                                "RL_BoneRoot",
+                                "RL_BoneRoot/Hip",
+                                "RL_BoneRoot/Hip/Pelvis",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBaseShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_PinkyToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_RingToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_MidToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_IndexToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_BigToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_CalfTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_CalfTwist01/L_CalfTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_KneeShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_ThighTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_ThighTwist01/L_ThighTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_KneeShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_BigToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_PinkyToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_RingToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_IndexToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_MidToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBaseShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_CalfTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_CalfTwist01/R_CalfTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_ThighTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_ThighTwist01/R_ThighTwist02",
+                                "RL_BoneRoot/Hip/Waist",
+                                "RL_BoneRoot/Hip/Waist/Spine01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01/Tongue02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01/Tongue02/Tongue03",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Teeth02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/R_Eye",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/L_Eye",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/UpperJaw",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/UpperJaw/Teeth01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ForearmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ForearmTwist01/L_ForearmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ElbowShareBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1/L_Pinky2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1/L_Pinky2/L_Pinky3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1/L_Ring2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1/L_Ring2/L_Ring3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1/L_Mid2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1/L_Mid2/L_Mid3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1/L_Index2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1/L_Index2/L_Index3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1/L_Thumb2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1/L_Thumb2/L_Thumb3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_UpperarmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_UpperarmTwist01/L_UpperarmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_RibsTwist",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_RibsTwist/L_Breast",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_RibsTwist",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_RibsTwist/R_Breast",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ElbowShareBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ForearmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ForearmTwist01/R_ForearmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Ring1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Ring1/R_Ring2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Ring1/R_Ring2/R_Ring3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1/R_Mid2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1/R_Mid2/R_Mid3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Thumb1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Thumb1/R_Thumb2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Thumb1/R_Thumb2/R_Thumb3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Index1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Index1/R_Index2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Index1/R_Index2/R_Index3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Pinky1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Pinky1/R_Pinky2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Pinky1/R_Pinky2/R_Pinky3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_UpperarmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_UpperarmTwist01/R_UpperarmTwist02"
+                            ],
+                            "positions": null,
+                            "rotations": null,
+                            "targets": {},
+                            "velocity_active": false,
+                            "face": -0.203757466032995,
+                            "rest_ready": true,
+                            "pelvis_local": [
+                                -9.281054556831148e-09,
+                                -0.01358384577830485,
+                                0.9287691432982683
+                            ],
+                            "foot_local": {
+                                "Left": [
+                                    0.09432277207816005,
+                                    0.03680644865271791,
+                                    0.0683924201875925
+                                ],
+                                "Right": [
+                                    -0.11584951130800145,
+                                    0.02641696828108034,
+                                    0.07017543353140354
+                                ]
+                            },
+                            "chest_rest": [
+                                0.7905133898161888,
+                                0.6122203998542752,
+                                -0.0027792660845913225,
+                                -0.01635091625966223
+                            ]
+                        }
+                    }
+                }
+            }
+        },
+        "cameras": {
+            "cameras": {
+                "head": [
+                    [
+                        0.21660000085830688,
+                        0.0,
+                        -0.04500000178813934,
+                        -0.6743797063827515,
+                        0.21263112127780914,
+                        -0.21263112127780914,
+                        0.6743797659873962
+                    ]
+                ],
+                "wrist": [
+                    [
+                        0.05979999899864197,
+                        0.0,
+                        0.029999999329447746,
+                        6.123234262925839e-17,
+                        0.7071067690849304,
+                        0.7071067690849304,
+                        -4.329780301713277e-17
+                    ]
+                ]
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/sim_info/0/sim_states.npz b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/sim_info/0/sim_states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..64133b4bccffbdf6bc08f83c81f3d9074b194be5
--- /dev/null
+++ b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/sim_info/0/sim_states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:981b72269547123f2411502491d3bd6d2083d79c54de7e2a4259444fb6ddb310
+size 4019916
diff --git a/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/sim_info/magicsim_manifest.json b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/sim_info/magicsim_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..bffca33fa3565b4f88154433c3cb3080ee9662c0
--- /dev/null
+++ b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/sim_info/magicsim_manifest.json
@@ -0,0 +1,233 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 00:13:28"
+    },
+    "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
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+            "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
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+            "quat": [
+                6.123234262925839e-17,
+                0.7071067690849304,
+                0.7071067690849304,
+                -4.329780301713277e-17
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "phaserun/000",
+        "task_type": "PhaseRun"
+    }
+}
\ No newline at end of file
diff --git a/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/visual_dr.json b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/visual_dr.json
new file mode 100644
index 0000000000000000000000000000000000000000..d267c6f941a3debe5c23247fb8b6e4236e8496fc
--- /dev/null
+++ b/N045/sawyer_umi/dr_on/seed_2030/phaserun/000/visual_dr.json
@@ -0,0 +1,689 @@
+{
+ "version": 1,
+ "settings": {
+  "enabled": false,
+  "keep": [
+   "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": 2030,
+   "seeds": {
+    "0": 2030
+   },
+   "lights": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
+     "type": "RectLight",
+     "intensity": 17351.282444,
+     "intensity_base": 15000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 5485.045698,
+     "rotate_deg": [
+      -4.426,
+      -4.075,
+      -1.627
+     ]
+    }
+   ],
+   "domes": [
+    {
+     "path": "/World/background",
+     "type": "DomeLight",
+     "intensity": 864.661336,
+     "intensity_base": 1289.6399,
+     "enable_color_temperature": true,
+     "color_temperature_k": 5172.415433,
+     "rotate_deg": [
+      0.0,
+      0.0,
+      119.09
+     ],
+     "dome": {
+      "path": "/World/background",
+      "hdr_base": null,
+      "color": [
+       0.76806,
+       0.698785,
+       0.71502
+      ]
+     }
+    }
+   ],
+   "materials": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "shader": "omnipbr",
+     "color": [
+      0.7591,
+      0.9478,
+      0.749
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+     "color_base": [
+      1.0,
+      1.0,
+      1.0
+     ],
+     "roughness": 0.469191,
+     "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/Paint/Carpaint/Carpaint_Shifting_Flakes.mdl",
+     "material": "/MmbVdrLooks/Source_Paint_Carpaint_Carpaint_Shifting_Flakes",
+     "bound_prims": 1,
+     "pool_size": 54,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor",
+     "role": "ground",
+     "mdl": "Source/Wood/Wood_Tiles_Walnut.mdl",
+     "material": "/MmbVdrLooks/Source_Wood_Wood_Tiles_Walnut",
+     "bound_prims": 1,
+     "pool_size": 42,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic",
+     "role": "wall",
+     "mdl": "Source/Paint/Paint_Gun_Metal.mdl",
+     "material": "/MmbVdrLooks/Source_Paint_Paint_Gun_Metal",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Paint/Chalk_Paint.mdl",
+     "material": "/MmbVdrLooks/Source_Paint_Chalk_Paint",
+     "bound_prims": 22,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
+     "role": "wall",
+     "mdl": "Source/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl",
+     "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway",
+     "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": {
+    "Person": 5
+   },
+   "physics_skip": {
+    "physics_binding": 1,
+    "rigid_body": 137,
+    "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"
+     ],
+     [
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+      "rigid_body"
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+      "rigid_body"
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+      "rigid_body"
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+      "rigid_body"
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+      "rigid_body"
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+      "rigid_body"
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+     [
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+      "rigid_body"
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+     [
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+      "rigid_body"
+     ],
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+      "rigid_body"
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+     [
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+      "rigid_body"
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+      "rigid_body"
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+   "material_library": {
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+     "reason": "glass",
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+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
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+    }
+   ],
+   "unsupported": [
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+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "mdl": "OmniGlass.mdl",
+     "bound_prims": 1
+    }
+   ]
+  }
+ ]
+}
\ No newline at end of file
diff --git a/N045/sawyer_umi/dr_on/seed_2030/report.json b/N045/sawyer_umi/dr_on/seed_2030/report.json
new file mode 100644
index 0000000000000000000000000000000000000000..c283db9739e5e585e9e84a1c054a894f8b7e0e75
--- /dev/null
+++ b/N045/sawyer_umi/dr_on/seed_2030/report.json
@@ -0,0 +1,9517 @@
+{
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+      "joint_names": [
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+        "dummy_base_revolute_z_joint",
+        "right_j0",
+        "head_pan",
+        "right_j1",
+        "right_j2",
+        "right_j3",
+        "right_j4",
+        "right_j5",
+        "right_j6",
+        "right_gripper_l_finger_joint",
+        "right_gripper_r_finger_joint"
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+      "nav_diag_error": "AttributeError: 'Dwb' object has no attribute 'last_safety_status'"
+    }
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+  "success": true,
+  "collect": {
+    "task": "N045",
+    "robot": "sawyer_umi",
+    "visual_dr": true,
+    "env": {
+      "MMB_COLLECT": "1",
+      "MMB_TASK_ID": "N045",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "1"
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+    },
+    "resolution": [
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+    ],
+    "camera_hz": 25,
+    "record": {
+      "formats": [
+        "lerobot_v21",
+        "sim_info"
+      ],
+      "clear_buffer_on_failure": true,
+      "lerobot": {
+        "subsample_every": 2
+      }
+    }
+  },
+  "elapsed_s": 859.0,
+  "n_success": 1
+}
diff --git a/N045/stretch3/dr_off/seed_1029/check.json b/N045/stretch3/dr_off/seed_1029/check.json
new file mode 100644
index 0000000000000000000000000000000000000000..5067061485df19ef0139d0a9b145b5522be76a14
--- /dev/null
+++ b/N045/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 faucet, wait for the person standing there to walk away, then push its lever over to turn it off.'; expected 'Go to the faucet, wait for the person standing there to walk away, then push its lever over to turn it off.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1128 rows vs ceil(2256/2) = 1128"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 151..2405, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "19.00 MB, 1128 frames at 25 fps, mean luma 117..154, std 15, new picture 1127x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1128 vs 1128"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "25.11 MB, 1128 frames at 25 fps, mean luma 116..146, std 29, new picture 1127x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1128 vs 1128"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "phaserun/000/sim_info"
+  }
+ }
+}
\ No newline at end of file
diff --git a/N045/stretch3/dr_off/seed_1029/check.txt b/N045/stretch3/dr_off/seed_1029/check.txt
new file mode 100644
index 0000000000000000000000000000000000000000..e7f723609501737dc3bb8756760c4c602f1c4203
--- /dev/null
+++ b/N045/stretch3/dr_off/seed_1029/check.txt
@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n045_str_off_1029/out  task=N045  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n045_str_off_1029/out/phaserun/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1128  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: 1128 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 faucet, wait for the person standing there to walk away, then push its lever over to turn it off.'; expected 'Go to the faucet, wait for the person standing there to walk away, then push its lever over to turn it off.'
+rows 1128 at dataset fps 25 = 45.12 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1128 rows vs ceil(2256/2) = 1128
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 151..2405, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 19.00 MB, 1128 frames at 25 fps, mean luma 117..154, std 15, new picture 1127x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1128 vs 1128
+[PASS] video observation.images.wrist decodes, 640x480, not black: 25.11 MB, 1128 frames at 25 fps, mean luma 116..146, std 29, new picture 1127x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1128 vs 1128
+parquet size 3.59 MB
+[PASS] sim_info present: phaserun/000/sim_info
+dataset size 48.04 MB; whole cell dir 51.8 MB
+RESULT: ALL PASS
diff --git a/N045/stretch3/dr_off/seed_1029/phaserun/000/completed/0.json b/N045/stretch3/dr_off/seed_1029/phaserun/000/completed/0.json
new file mode 100644
index 0000000000000000000000000000000000000000..6705c46699648249dc7b5f97844b6f9338dc79c8
--- /dev/null
+++ b/N045/stretch3/dr_off/seed_1029/phaserun/000/completed/0.json
@@ -0,0 +1 @@
+{"run_id": "phaserun/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null}
\ No newline at end of file
diff --git a/N045/stretch3/dr_off/seed_1029/phaserun/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N045/stretch3/dr_off/seed_1029/phaserun/000/lerobot_v21/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d33c8c7facf95e138914c82022755604eac21b52
--- /dev/null
+++ b/N045/stretch3/dr_off/seed_1029/phaserun/000/lerobot_v21/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3834047b99c3781b22d94e3c2ff171219940b36ff232fc9032913e40951b1102
+size 3589366
diff --git a/N045/stretch3/dr_off/seed_1029/phaserun/000/lerobot_v21/meta/episodes.jsonl b/N045/stretch3/dr_off/seed_1029/phaserun/000/lerobot_v21/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..b4c9eedad47f158db0c7d458a887e80ae680fcde
--- /dev/null
+++ b/N045/stretch3/dr_off/seed_1029/phaserun/000/lerobot_v21/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the faucet, wait for the person standing there to walk away, then push its lever over to turn it off."], "length": 1128, "magicsim/control_steps": 2256, "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 gray plinth. There are a large gray plinth and a large faucet. The gray plinth is in front of the faucet. The faucet is on top of the gray plinth. The faucet is behind the gray plinth. The scene is viewed from front-left, slightly above table height."}
diff --git a/N045/stretch3/dr_off/seed_1029/phaserun/000/lerobot_v21/meta/episodes_stats.jsonl b/N045/stretch3/dr_off/seed_1029/phaserun/000/lerobot_v21/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..0922787db0a31d0b3078fffb6bf95bd10c5a6641
--- /dev/null
+++ b/N045/stretch3/dr_off/seed_1029/phaserun/000/lerobot_v21/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"action": {"mean": [0.1214056521148837, 0.0, 0.07185102462605904, -0.6973669653533833, 0.5257280636975106, 0.7577006036402486, -0.4761456543355123, -1.5174579678863608e-07, 4.914671529595201e-06, 0.1602867679786662, 0.21099290780141844], "std": [0.140738688856463, 0.0, 0.20175738511105937, 1.3572689001968028, 0.72790184754481, 0.07602297135231016, 0.8147669048165079, 2.5632879508188066e-06, 4.023892248996406e-06, 0.2893929159890462, 0.40801335843195075], "min": [0.0, 0.0, -0.1142817884683609, -3.3733069896698, -0.145691379904747, 0.7197518348693848, -0.9999998807907104, -6.5750527937780134e-06, -7.0999894887791015e-06, -0.6395571827888489, 0.0], "max": [0.30000001192092896, 0.0, 0.800000011920929, 1.2651097774505615, 2.9765939712524414, 0.9100005626678467, 0.9997612237930298, 8.661970241519157e-06, 8.388679816562217e-06, 0.7676199674606323, 1.0], "count": [1128]}, "action_is_hold": {"mean": [0.18528368794326242, 0.18528368794326242, 0.18528368794326242, 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diff --git a/N045/stretch3/dr_off/seed_1029/phaserun/000/lerobot_v21/meta/extra/episode_000000.json b/N045/stretch3/dr_off/seed_1029/phaserun/000/lerobot_v21/meta/extra/episode_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..2135ae557155399599b8bacc86b3b35bae9c3383
--- /dev/null
+++ b/N045/stretch3/dr_off/seed_1029/phaserun/000/lerobot_v21/meta/extra/episode_000000.json
@@ -0,0 +1,264 @@
+{
+ "episode_index": 0,
+ "trajectory_id": 0,
+ "env_id": 0,
+ "task_type": "PhaseRun",
+ "subsample_every": 2,
+ "control_steps": 2256,
+ "language": {
+  "scene": {
+   "objects": [
+    {
+     "id": "plinth_1",
+     "cat_name": "plinth",
+     "inst_id": 1,
+     "noun": "plinth",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      2.1670723720007667,
+      4.84931738460062,
+      0.21614981611587125
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0,
+       0.9999999999999998
+      ],
+      "center": [
+       0.0,
+       8.326672684688674e-17,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "faucet_1",
+     "cat_name": "faucet",
+     "inst_id": 1,
+     "noun": "faucet",
+     "color": null,
+     "size": "large",
+     "material": null,
+     "category": "articulation",
+     "pos": [
+      2.1152997169337215,
+      4.874176165566026,
+      0.6794998066084965
+     ],
+     "bbox": {
+      "extent": [
+       0.88848599552234,
+       0.8557918280166215,
+       0.6572300364446277
+      ],
+      "center": [
+       -0.11154309505398191,
+       -0.024787120365452525,
+       -0.011201495200226064
+      ]
+     }
+    }
+   ],
+   "relations": [
+    {
+     "subject": "plinth_1",
+     "relation": "in_front_of",
+     "object": "faucet_1"
+    },
+    {
+     "subject": "faucet_1",
+     "relation": "on_top_of",
+     "object": "plinth_1"
+    },
+    {
+     "subject": "faucet_1",
+     "relation": "behind",
+     "object": "plinth_1"
+    }
+   ],
+   "cameras": [
+    {
+     "name": "head",
+     "intrinsics": {
+      "K": [
+       [
+        811.3606627541883,
+        0.0,
+        320.0
+       ],
+       [
+        0.0,
+        811.3606388722814,
+        240.0
+       ],
+       [
+        0.0,
+        0.0,
+        1.0
+       ]
+      ],
+      "fov_h_deg": 43.048473468183616,
+      "resolution": [
+       640,
+       480
+      ]
+     },
+     "pos_robot": [
+      2.571408830406331,
+      3.7535417228516517,
+      1.235722746174851
+     ],
+     "viewpoint": "front-left, slightly above table height",
+     "extrinsics": {
+      "R": [
+       [
+        -5.56468016110756e-08,
+        -0.9999999999938459,
+        -3.5078881838734866e-06
+       ],
+       [
+        0.5646357088821415,
+        -2.9266214562895243e-06,
+        0.825340242716055
+       ],
+       [
+        -0.825340242721242,
+        -1.9347513867118415e-06,
+        0.5646357088788294
+       ]
+      ],
+      "t": [
+       -0.0029374520292166934,
+       -1.0975147957833271,
+       -0.6905334495545234
+      ]
+     }
+    },
+    {
+     "name": "wrist",
+     "intrinsics": {
+      "K": [
+       [
+        426.91786449658065,
+        0.0,
+        320.0
+       ],
+       [
+        0.0,
+        426.9178503597538,
+        240.0
+       ],
+       [
+        0.0,
+        0.0,
+        1.0
+       ]
+      ],
+      "fov_h_deg": 73.70742419505024,
+      "resolution": [
+       640,
+       480
+      ]
+     },
+     "pos_robot": [
+      2.5138320559614344,
+      3.701700537482585,
+      -0.0036022096677660108
+     ],
+     "viewpoint": "front-left, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        -0.9999999999940066,
+        3.409534356899787e-06,
+        6.01063709654693e-07
+       ],
+       [
+        3.46210948901734e-06,
+        0.9848141327789798,
+        0.1736119922897026
+       ],
+       [
+        1.651305908443882e-14,
+        0.1736119922907431,
+        -0.9848141327848816
+       ]
+      ],
+      "t": [
+       0.008999751121030937,
+       -0.07177462016445776,
+       0.044614582297616646
+      ]
+     }
+    }
+   ],
+   "robots": [
+    {
+     "name": "HelloRobot",
+     "model": "hellorobot",
+     "type": "mobilemanip",
+     "noun": "Hello Robot Stretch 3 mobile manipulator",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
+       -3.186428474991934,
+       3.195222164517268,
+       0.06
+      ],
+      "ori": [
+       0.6409010291099548,
+       0.0,
+       0.0,
+       -0.7676235437393188
+      ]
+     },
+     "facing_yaw_deg": -100.28192388949165,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1640.555611067428,
+    "ambient": "bright"
+   },
+   "effects": [],
+   "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the gray plinth. There are a large gray plinth and a large faucet. The gray plinth is in front of the faucet. The faucet is on top of the gray plinth. The faucet is behind the gray plinth. The scene is viewed from front-left, slightly above table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n[faucet]\n\n\n\n\n\n\n\n                        [robot]"
+  },
+  "task": {
+   "task_type": "PhaseRun",
+   "instruction": "Go to the faucet, wait for the person standing there to walk away, then push its lever over to turn it off.",
+   "template_id": -1,
+   "slots": {
+    "obj": 0.14253040151323668,
+    "support": null
+   },
+   "generic_instruction": "Phaserun the 0.14253040151323668.",
+   "task_id": "N045",
+   "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
+}
\ No newline at end of file
diff --git a/N045/stretch3/dr_off/seed_1029/phaserun/000/lerobot_v21/meta/info.json b/N045/stretch3/dr_off/seed_1029/phaserun/000/lerobot_v21/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..21534ccc567c865bddb7291f067b7da5deac5b50
--- /dev/null
+++ b/N045/stretch3/dr_off/seed_1029/phaserun/000/lerobot_v21/meta/info.json
@@ -0,0 +1,979 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "HelloRobotCfg",
+    "total_episodes": 1,
+    "total_frames": 1128,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                11
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "arm_action_0",
+                "arm_action_1",
+                "arm_action_2",
+                "arm_action_3",
+                "arm_action_4",
+                "arm_action_5",
+                "arm_action_6",
+                "gripper"
+            ]
+        },
+        "action_is_hold": {
+            "dtype": "bool",
+            "shape": [
+                11
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "joint_lift",
+                "joint_head_pan",
+                "joint_head_tilt",
+                "joint_arm_l3",
+                "joint_arm_l2",
+                "joint_arm_l1",
+                "joint_arm_l0",
+                "joint_wrist_yaw",
+                "joint_wrist_pitch",
+                "joint_wrist_roll",
+                "joint_gripper_finger_left",
+                "joint_gripper_finger_right"
+            ]
+        },
+        "observation.joint_vel": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "joint_lift",
+                "joint_head_pan",
+                "joint_head_tilt",
+                "joint_arm_l3",
+                "joint_arm_l2",
+                "joint_arm_l1",
+                "joint_arm_l0",
+                "joint_wrist_yaw",
+                "joint_wrist_pitch",
+                "joint_wrist_roll",
+                "joint_gripper_finger_left",
+                "joint_gripper_finger_right"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                730
+            ],
+            "names": [
+                "avatar_motion.Person.joint_pos.0",
+                "avatar_motion.Person.joint_pos.1",
+                "avatar_motion.Person.joint_pos.2",
+                "avatar_motion.Person.joint_pos.3",
+                "avatar_motion.Person.joint_pos.4",
+                "avatar_motion.Person.joint_pos.5",
+                "avatar_motion.Person.joint_pos.6",
+                "avatar_motion.Person.joint_pos.7",
+                "avatar_motion.Person.joint_pos.8",
+                "avatar_motion.Person.joint_pos.9",
+                "avatar_motion.Person.joint_pos.10",
+                "avatar_motion.Person.joint_pos.11",
+                "avatar_motion.Person.joint_pos.12",
+                "avatar_motion.Person.joint_pos.13",
+                "avatar_motion.Person.joint_pos.14",
+                "avatar_motion.Person.joint_pos.15",
+                "avatar_motion.Person.joint_pos.16",
+                "avatar_motion.Person.joint_pos.17",
+                "avatar_motion.Person.joint_pos.18",
+                "avatar_motion.Person.joint_pos.19",
+                "avatar_motion.Person.joint_pos.20",
+                "avatar_motion.Person.joint_pos.21",
+                "avatar_motion.Person.joint_pos.22",
+                "avatar_motion.Person.joint_pos.23",
+                "avatar_motion.Person.joint_pos.24",
+                "avatar_motion.Person.joint_pos.25",
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+                "avatar_motion.Person.joint_rot.291",
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+                "avatar_motion.Person.joint_rot.300",
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+                "avatar_motion.Person.joint_rot.323",
+                "avatar_motion.Person.joint_rot.324",
+                "avatar_motion.Person.joint_rot.325",
+                "avatar_motion.Person.joint_rot.326",
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+                "avatar_motion.Person.joint_rot.328",
+                "avatar_motion.Person.joint_rot.329",
+                "avatar_motion.Person.joint_rot.330",
+                "avatar_motion.Person.joint_rot.331",
+                "avatar_motion.Person.joint_rot.332",
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+                "avatar_motion.Person.joint_rot.334",
+                "avatar_motion.Person.joint_rot.335",
+                "avatar_motion.Person.joint_rot.336",
+                "avatar_motion.Person.joint_rot.337",
+                "avatar_motion.Person.joint_rot.338",
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+                "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",
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+                "avatar_motion.Person.joint_rot.354",
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+                "avatar_motion.Person.joint_rot.359",
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+                "avatar_motion.Person.joint_rot.374",
+                "avatar_motion.Person.joint_rot.375",
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+                "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",
+                "object_joint_pos.faucet.0",
+                "object_joint_vel.faucet.0",
+                "object_pose.faucet.0",
+                "object_pose.faucet.1",
+                "object_pose.faucet.2",
+                "object_pose.faucet.3",
+                "object_pose.faucet.4",
+                "object_pose.faucet.5",
+                "object_pose.faucet.6",
+                "object_pose.plinth.0",
+                "object_pose.plinth.1",
+                "object_pose.plinth.2",
+                "object_pose.plinth.3",
+                "object_pose.plinth.4",
+                "object_pose.plinth.5",
+                "object_pose.plinth.6"
+            ]
+        },
+        "action.command": {
+            "dtype": "float32",
+            "shape": [
+                640
+            ],
+            "names": null
+        },
+        "action.applied": {
+            "dtype": "float32",
+            "shape": [
+                13
+            ],
+            "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
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/N045/stretch3/dr_off/seed_1029/phaserun/000/lerobot_v21/meta/magicsim_manifest.json b/N045/stretch3/dr_off/seed_1029/phaserun/000/lerobot_v21/meta/magicsim_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..763017aa6599dd556f7264328bc45c9356980c77
--- /dev/null
+++ b/N045/stretch3/dr_off/seed_1029/phaserun/000/lerobot_v21/meta/magicsim_manifest.json
@@ -0,0 +1,259 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 00:18:29"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "HelloRobot",
+                "cfg": "HelloRobotCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "HelloRobot.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HelloRobotBaseAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "HelloRobot.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "arm_action_0",
+                    "arm_action_1",
+                    "arm_action_2",
+                    "arm_action_3",
+                    "arm_action_4",
+                    "arm_action_5",
+                    "arm_action_6"
+                ],
+                "source": "HelloRobotIKAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "HelloRobot.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_pos",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_vel",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "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": [
+                    [
+                        811.3606627541883,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        811.3606388722814,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 43.048473468183616,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.04977099969983101,
+                -0.002942000050097704,
+                1.2957229614257812
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+            "quat": [
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+            ]
+        },
+        "wrist": {
+            "intrinsics": {
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+                    [
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+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        426.9178503597538,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 73.70742419505024,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.008999999612569809,
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+            "quat": [
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+                0.9961962699890137,
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+            ]
+        }
+    },
+    "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": "phaserun/000",
+        "task_type": "PhaseRun"
+    }
+}
\ No newline at end of file
diff --git a/N045/stretch3/dr_off/seed_1029/phaserun/000/lerobot_v21/meta/stats.json b/N045/stretch3/dr_off/seed_1029/phaserun/000/lerobot_v21/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..cec7fda71e9daec8676a1e99e53e336377581af2
--- /dev/null
+++ b/N045/stretch3/dr_off/seed_1029/phaserun/000/lerobot_v21/meta/stats.json
@@ -0,0 +1,6173 @@
+{
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diff --git a/N045/stretch3/dr_off/seed_1029/phaserun/000/lerobot_v21/meta/tasks.jsonl b/N045/stretch3/dr_off/seed_1029/phaserun/000/lerobot_v21/meta/tasks.jsonl
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diff --git a/N045/stretch3/dr_off/seed_1029/phaserun/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4 b/N045/stretch3/dr_off/seed_1029/phaserun/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4
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diff --git a/N045/stretch3/dr_off/seed_1029/phaserun/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N045/stretch3/dr_off/seed_1029/phaserun/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4
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diff --git a/N045/stretch3/dr_off/seed_1029/phaserun/000/run_meta.json b/N045/stretch3/dr_off/seed_1029/phaserun/000/run_meta.json
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+                            "Cylinder"
+                        ],
+                        "num_per_env": 1,
+                        "random": false,
+                        "common": {
+                            "pos": [
+                                1.2,
+                                0.2,
+                                0.28
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0
+                            ],
+                            "scale": [
+                                0.24,
+                                0.24,
+                                0.5
+                            ]
+                        },
+                        "plinth_1": {
+                            "primitive_params": {
+                                "radius": 0.5,
+                                "height": 1.0
+                            },
+                            "visual": {
+                                "color": [
+                                    0.55,
+                                    0.45,
+                                    0.35
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            },
+                            "pos": [
+                                1.2,
+                                0.2,
+                                0.27615
+                            ],
+                            "ori": [
+                                0.0,
+                                0.0,
+                                0.0
+                            ],
+                            "scale": [
+                                0.24,
+                                0.24,
+                                0.49230000000000007
+                            ]
+                        }
+                    },
+                    "faucet": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/MobileAvatar/faucet_1343.usda"
+                        ],
+                        "num_per_env": 1,
+                        "random": false,
+                        "common": {
+                            "pos": [
+                                1.2336728440470754,
+                                0.24652429014806498,
+                                0.7395
+                            ],
+                            "ori": [
+                                0.0,
+                                0.0,
+                                -124.0
+                            ],
+                            "scale": [
+                                0.639,
+                                0.639,
+                                0.639
+                            ]
+                        },
+                        "faucet_1": {
+                            "physics": {
+                                "type": "articulation"
+                            }
+                        }
+                    }
+                }
+            },
+            "nav": {
+                "navmesh": {
+                    "enabled": true,
+                    "visualize": false,
+                    "bake_timeout_s": 180,
+                    "agent_height_cm": 170,
+                    "min_agent_radius_cm": 47.0,
+                    "max_agent_radius_cm": 47.0,
+                    "max_step_height_cm": 20,
+                    "max_floor_slope_deg": 30,
+                    "agent_island_radius_cm": 5,
+                    "auto_exclude_rigid_bodies": true,
+                    "validate_path_clearance": true,
+                    "validate_path_window": true,
+                    "navmesh_offset_z_m": 0,
+                    "verbose": true
+                },
+                "occupancymap": {
+                    "cell_size": 0.05
+                }
+            },
+            "anim": {
+                "avatar": {
+                    "graph": "magic",
+                    "Person": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Avatar/Medical/F_Medical_01/F_Medical_01.usd"
+                        ],
+                        "num_per_env": 1,
+                        "random": false,
+                        "common": {
+                            "pos": [
+                                0.7218998535871379,
+                                0.40449999999999997,
+                                0.03
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                -23.15807405466032
+                            ],
+                            "body_collision": {
+                                "representation": "bone_rigid",
+                                "friction": 1.0,
+                                "restitution": 0.15
+                            }
+                        }
+                    }
+                }
+            }
+        },
+        "task": {
+            "observation": {},
+            "reward": {},
+            "termination": {
+                "timeout_steps": 100000,
+                "success_hold_frames": 1
+            },
+            "mmb": {
+                "task_id": "N045",
+                "level": "easy",
+                "scene_seed": 1029,
+                "levels": {
+                    "easy": {
+                        "avatar": "dwell 6 s at the faucet after the robot reaches the wait zone, then walks to a visible spot"
+                    },
+                    "medium": {
+                        "avatar": "seeded dwell 4-14 s (only the end of the occupation varies)"
+                    },
+                    "hard": {
+                        "avatar": "seeded dwell",
+                        "lever_start": "ON angle 60 +- 4 deg; faucet and lever unchanged"
+                    }
+                },
+                "timeout_s": 420.0,
+                "layout": {
+                    "task_id": "N045",
+                    "level": "easy",
+                    "scene_seed": 1029,
+                    "floor_z": 0.03,
+                    "spawn_z": 0.06,
+                    "spawn": [
+                        -3.3,
+                        3.2,
+                        -1.5707963267948966
+                    ],
+                    "object_id": "1343",
+                    "faucet_xy": [
+                        1.2,
+                        0.2
+                    ],
+                    "faucet_yaw": -2.1642082724729685,
+                    "lever_on_deg": 60.0,
+                    "plinth": [
+                        1.2,
+                        0.2,
+                        0.12
+                    ],
+                    "plinth_top": 0.49230000000000007,
+                    "wait_xy": [
+                        -1.4,
+                        0.1
+                    ],
+                    "avatar_spawn": [
+                        0.7218998535871379,
+                        0.40449999999999997
+                    ],
+                    "avatar_yaw_deg": -23.15807405466032,
+                    "avatar_safe_xy": [
+                        0.0,
+                        2.0
+                    ],
+                    "avatar_dwell_s": 4.1262596042958855,
+                    "clear_hold_s": 1.5,
+                    "clear_dist": 1.1,
+                    "stroke_deg": 45.0
+                },
+                "dr": {
+                    "params": {
+                        "dr_seed": 1029,
+                        "spawn_dx": 0.1135715250080658,
+                        "spawn_dy": -0.0047778354827319736,
+                        "spawn_dyaw_deg": -10.281922528412284,
+                        "mass_scale": 1.092233903630023,
+                        "friction_scale": 1.0520716806650825,
+                        "light_intensity": [
+                            1088.0412707195849,
+                            2002.1384444575299
+                        ],
+                        "phase_jitter": -0.936870197852057,
+                        "obj_u": [
+                            -0.7493491190800443,
+                            -0.9977371170075249,
+                            0.9984143696843246,
+                            0.22635975172717449,
+                            0.9977222411691002,
+                            -0.260704483548009
+                        ]
+                    },
+                    "spawn": [
+                        -3.186,
+                        3.195,
+                        -100.3
+                    ],
+                    "avatar_dwell_s": 4.13
+                },
+                "planner_seeds": "lean"
+            },
+            "command": {
+                "PhaseRun": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "init_limit": 150
+                }
+            }
+        },
+        "collect": {
+            "command": {
+                "PhaseRun": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "init_limit": 150
+                }
+            },
+            "global_planner": {
+                "NavTo": {
+                    "use_navmesh": true,
+                    "use_absolute": true,
+                    "translation_threshold": 0.06,
+                    "rotation_threshold": 0.08,
+                    "num_path_segments": 30,
+                    "start_forward_offset": 0.0,
+                    "visualize_path": false,
+                    "carry_arm": true
+                },
+                "MobileMoveL": {
+                    "translation_threshold": 0.003,
+                    "rotation_threshold": 0.05,
+                    "motiongen_distance_threshold": 0.0,
+                    "timeout_steps": 1500,
+                    "debug": false,
+                    "debug_viz": false,
+                    "debug_sphere": false,
+                    "reactive": false,
+                    "base_pos_threshold": 0.025,
+                    "base_rot_threshold": 0.05,
+                    "eef_pos_threshold": 0.02,
+                    "eef_rot_threshold": 0.25,
+                    "waypoint_max_steps": 60
+                },
+                "ParallelGripper": {
+                    "gripper_threshold": 0.0005,
+                    "timeout_steps": 100
+                }
+            },
+            "atomic_skill": {
+                "NavToPose": {
+                    "robot_id": 0
+                },
+                "Move": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "arm_planner": "MobileMoveL",
+                    "hand_planner": "ParallelGripper",
+                    "open_value": 0.0,
+                    "close_value": 1.0,
+                    "hold_steps": 25,
+                    "ramp_steps": 0
+                }
+            },
+            "auto_collect": {
+                "task_type": "mobile_avatar",
+                "max_trajectories": 1000000
+            },
+            "record": {
+                "output_dir": "/mnt/scratch/xc536_atomic/n045_str_off_1029/out",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            }
+        },
+        "env_string": "N045FaucetEnv-V0",
+        "visual_dr": {
+            "keep": [
+                "Person"
+            ]
+        }
+    },
+    "git_sha": null,
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}
\ No newline at end of file
diff --git a/N045/stretch3/dr_off/seed_1029/phaserun/000/sim_info/0/actions.npz b/N045/stretch3/dr_off/seed_1029/phaserun/000/sim_info/0/actions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ffa5bc723a48fcf18a2ecf7ab3840b10c1868d56
--- /dev/null
+++ b/N045/stretch3/dr_off/seed_1029/phaserun/000/sim_info/0/actions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c24641f417dbec6b142cb95d6ec02b7ed231b61c617a36d4a7de6b71fe14b8d7
+size 268890
diff --git a/N045/stretch3/dr_off/seed_1029/phaserun/000/sim_info/0/device_commands.jsonl b/N045/stretch3/dr_off/seed_1029/phaserun/000/sim_info/0/device_commands.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/N045/stretch3/dr_off/seed_1029/phaserun/000/sim_info/0/device_events.jsonl b/N045/stretch3/dr_off/seed_1029/phaserun/000/sim_info/0/device_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/N045/stretch3/dr_off/seed_1029/phaserun/000/sim_info/0/scene_snapshot.json b/N045/stretch3/dr_off/seed_1029/phaserun/000/sim_info/0/scene_snapshot.json
new file mode 100644
index 0000000000000000000000000000000000000000..be1bdc0906e6ee972dfb95caa864e417f837ead9
--- /dev/null
+++ b/N045/stretch3/dr_off/seed_1029/phaserun/000/sim_info/0/scene_snapshot.json
@@ -0,0 +1,532 @@
+{
+    "trajectory_id": 0,
+    "env_id": 0,
+    "run_id": "phaserun/000",
+    "task_type": "PhaseRun",
+    "success": true,
+    "timing": {
+        "fps": 50.0,
+        "sim_dt": 0.005,
+        "decimation": 4
+    },
+    "restore_interface": {
+        "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
+    },
+    "snapshot": {
+        "env_id": 0,
+        "scene": {
+            "objects": [
+                {
+                    "plinth": [
+                        {
+                            "asset": "Cylinder",
+                            "pose": {
+                                "pos": [
+                                    1.2,
+                                    0.2,
+                                    0.27615
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.24,
+                                    0.24,
+                                    0.49230000000000007
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.55,
+                                        0.45,
+                                        0.35
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "radius": 0.5,
+                                    "height": 1.0
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "faucet": [
+                        {
+                            "asset": "/mnt/scratch/xc536_atomic_local/repo_b3820fd82/Assets/MobileAvatar/faucet_1343.usda",
+                            "pose": {
+                                "pos": [
+                                    1.233672857284546,
+                                    0.24652428925037384,
+                                    0.7394999861717224
+                                ],
+                                "ori": [
+                                    -0.3453061282634735,
+                                    0.0,
+                                    0.0,
+                                    0.7670802474021912
+                                ],
+                                "scale": [
+                                    0.639,
+                                    0.639,
+                                    0.639
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "articulation",
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "joint_position": [
+                                    1.0471975803375244
+                                ],
+                                "joint_velocity": [
+                                    0.0
+                                ],
+                                "linear_velocity": [
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "angular_velocity": [
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ]
+                            }
+                        }
+                    ]
+                }
+            ],
+            "artifacts": [
+                {}
+            ],
+            "background": {
+                "type": "dome",
+                "pose": {
+                    "pos": null,
+                    "ori": null,
+                    "scale": null
+                },
+                "dr": {
+                    "intensity": 1640.555611067428,
+                    "texture": null,
+                    "color": [
+                        0.85,
+                        0.85,
+                        0.85
+                    ]
+                }
+            }
+        },
+        "robots": {
+            "HelloRobot": {
+                "root_pose": [
+                    [
+                        -3.1864285469055176,
+                        3.1952221393585205,
+                        0.05999999865889549,
+                        0.6409010291099548,
+                        0.0,
+                        0.0,
+                        -0.7676235437393188
+                    ]
+                ],
+                "root_vel": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ],
+                "joint_pos": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.550000011920929,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        1.5707963705062866,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ],
+                "joint_vel": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ]
+            }
+        },
+        "avatars": {
+            "Person_1": {
+                "cat": "Person",
+                "inst_id": 1,
+                "asset": [
+                    "usd",
+                    "/mnt/scratch/xc536_atomic_local/repo_b3820fd82/Assets/Avatar/Medical/F_Medical_01/F_Medical_01.usd"
+                ],
+                "scale": [
+                    1.0,
+                    1.0,
+                    1.0
+                ],
+                "joint_names": [
+                    "RL_BoneRoot",
+                    "Hip",
+                    "Pelvis",
+                    "L_Thigh",
+                    "L_Calf",
+                    "L_Foot",
+                    "L_ToeBaseShareBone",
+                    "L_ToeBase",
+                    "L_PinkyToe1",
+                    "L_RingToe1",
+                    "L_MidToe1",
+                    "L_IndexToe1",
+                    "L_BigToe1",
+                    "L_CalfTwist01",
+                    "L_CalfTwist02",
+                    "L_KneeShareBone",
+                    "L_ThighTwist01",
+                    "L_ThighTwist02",
+                    "R_Thigh",
+                    "R_Calf",
+                    "R_KneeShareBone",
+                    "R_Foot",
+                    "R_ToeBase",
+                    "R_BigToe1",
+                    "R_PinkyToe1",
+                    "R_RingToe1",
+                    "R_IndexToe1",
+                    "R_MidToe1",
+                    "R_ToeBaseShareBone",
+                    "R_CalfTwist01",
+                    "R_CalfTwist02",
+                    "R_ThighTwist01",
+                    "R_ThighTwist02",
+                    "Waist",
+                    "Spine01",
+                    "Spine02",
+                    "NeckTwist01",
+                    "NeckTwist02",
+                    "Head",
+                    "FacialBone",
+                    "JawRoot",
+                    "Tongue01",
+                    "Tongue02",
+                    "Tongue03",
+                    "Teeth02",
+                    "R_Eye",
+                    "L_Eye",
+                    "UpperJaw",
+                    "Teeth01",
+                    "L_Clavicle",
+                    "L_Upperarm",
+                    "L_Forearm",
+                    "L_ForearmTwist01",
+                    "L_ForearmTwist02",
+                    "L_ElbowShareBone",
+                    "L_Hand",
+                    "L_Pinky1",
+                    "L_Pinky2",
+                    "L_Pinky3",
+                    "L_Ring1",
+                    "L_Ring2",
+                    "L_Ring3",
+                    "L_Mid1",
+                    "L_Mid2",
+                    "L_Mid3",
+                    "L_Index1",
+                    "L_Index2",
+                    "L_Index3",
+                    "L_Thumb1",
+                    "L_Thumb2",
+                    "L_Thumb3",
+                    "L_UpperarmTwist01",
+                    "L_UpperarmTwist02",
+                    "L_RibsTwist",
+                    "L_Breast",
+                    "R_RibsTwist",
+                    "R_Breast",
+                    "R_Clavicle",
+                    "R_Upperarm",
+                    "R_Forearm",
+                    "R_ElbowShareBone",
+                    "R_ForearmTwist01",
+                    "R_ForearmTwist02",
+                    "R_Hand",
+                    "R_Ring1",
+                    "R_Ring2",
+                    "R_Ring3",
+                    "R_Mid1",
+                    "R_Mid2",
+                    "R_Mid3",
+                    "R_Thumb1",
+                    "R_Thumb2",
+                    "R_Thumb3",
+                    "R_Index1",
+                    "R_Index2",
+                    "R_Index3",
+                    "R_Pinky1",
+                    "R_Pinky2",
+                    "R_Pinky3",
+                    "R_UpperarmTwist01",
+                    "R_UpperarmTwist02"
+                ],
+                "start_state": {
+                    "asset": [
+                        "usd",
+                        "/mnt/scratch/xc536_atomic_local/repo_b3820fd82/Assets/Avatar/Medical/F_Medical_01/F_Medical_01.usd"
+                    ],
+                    "pose": {
+                        "pos": [
+                            0.7212346792221069,
+                            0.4060479402542114,
+                            0.029999999329447746
+                        ],
+                        "ori": [
+                            0.9796859622001648,
+                            0.0,
+                            0.0,
+                            -0.20053817331790924
+                        ],
+                        "scale": [
+                            1.0,
+                            1.0,
+                            1.0
+                        ]
+                    },
+                    "type_specific": {
+                        "action_queue": {
+                            "queue": [],
+                            "loop": false,
+                            "current": null
+                        },
+                        "character_state": {
+                            "Action": "None",
+                            "Walk": 0.0,
+                            "PathPoints": [
+                                [
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ]
+                            ],
+                            "lookAround": 0.0,
+                            "SitWeight": 1.0,
+                            "MotionInPlace": 1.0
+                        },
+                        "control_state": {
+                            "mode": "animation",
+                            "ik_backend": "animgraph",
+                            "curobo_base": null,
+                            "joint_names": [
+                                "RL_BoneRoot",
+                                "RL_BoneRoot/Hip",
+                                "RL_BoneRoot/Hip/Pelvis",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBaseShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_PinkyToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_RingToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_MidToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_IndexToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_BigToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_CalfTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_CalfTwist01/L_CalfTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_KneeShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_ThighTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_ThighTwist01/L_ThighTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_KneeShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_BigToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_PinkyToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_RingToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_IndexToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_MidToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBaseShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_CalfTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_CalfTwist01/R_CalfTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_ThighTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_ThighTwist01/R_ThighTwist02",
+                                "RL_BoneRoot/Hip/Waist",
+                                "RL_BoneRoot/Hip/Waist/Spine01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01/Tongue02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01/Tongue02/Tongue03",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Teeth02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/R_Eye",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/L_Eye",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/UpperJaw",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/UpperJaw/Teeth01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ForearmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ForearmTwist01/L_ForearmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ElbowShareBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1/L_Pinky2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1/L_Pinky2/L_Pinky3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1/L_Ring2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1/L_Ring2/L_Ring3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1/L_Mid2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1/L_Mid2/L_Mid3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1/L_Index2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1/L_Index2/L_Index3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1/L_Thumb2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1/L_Thumb2/L_Thumb3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_UpperarmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_UpperarmTwist01/L_UpperarmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_RibsTwist",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_RibsTwist/L_Breast",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_RibsTwist",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_RibsTwist/R_Breast",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ElbowShareBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ForearmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ForearmTwist01/R_ForearmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Ring1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Ring1/R_Ring2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Ring1/R_Ring2/R_Ring3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1/R_Mid2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1/R_Mid2/R_Mid3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Thumb1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Thumb1/R_Thumb2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Thumb1/R_Thumb2/R_Thumb3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Index1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Index1/R_Index2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Index1/R_Index2/R_Index3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Pinky1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Pinky1/R_Pinky2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Pinky1/R_Pinky2/R_Pinky3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_UpperarmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_UpperarmTwist01/R_UpperarmTwist02"
+                            ],
+                            "positions": null,
+                            "rotations": null,
+                            "targets": {},
+                            "velocity_active": false,
+                            "face": -0.4032189915914813,
+                            "rest_ready": true,
+                            "pelvis_local": [
+                                -1.3010426954535026e-08,
+                                -0.01358406473474947,
+                                0.9287838656455278
+                            ],
+                            "foot_local": {
+                                "Left": [
+                                    0.09480407331626083,
+                                    0.040702669378020716,
+                                    0.06872088648378849
+                                ],
+                                "Right": [
+                                    -0.11530176102495232,
+                                    0.02906660049086162,
+                                    0.07028157450258732
+                                ]
+                            },
+                            "chest_rest": [
+                                0.786934507001546,
+                                0.6168748316464359,
+                                -0.007237279417528095,
+                                -0.012144269345316067
+                            ]
+                        }
+                    }
+                }
+            }
+        },
+        "cameras": {
+            "cameras": {
+                "head": [
+                    [
+                        0.04977099969983101,
+                        -0.002942000050097704,
+                        1.2957229614257812,
+                        -0.6254264116287231,
+                        -0.3299117982387543,
+                        0.32990962266921997,
+                        0.6254276037216187
+                    ]
+                ],
+                "wrist": [
+                    [
+                        0.008999999612569809,
+                        0.06293900310993195,
+                        0.056398000568151474,
+                        -1.5083966786733072e-07,
+                        1.7244702803509426e-06,
+                        0.9961962699890137,
+                        0.08713743835687637
+                    ]
+                ]
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/N045/stretch3/dr_off/seed_1029/phaserun/000/sim_info/0/sim_states.npz b/N045/stretch3/dr_off/seed_1029/phaserun/000/sim_info/0/sim_states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..643486bdb605fdcb43b0934229147e22a76da9a7
--- /dev/null
+++ b/N045/stretch3/dr_off/seed_1029/phaserun/000/sim_info/0/sim_states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0bed1b95dfeb6acae4e124f0b5e86a8488bcab1e56289b7e1f8bd559bedc97f
+size 3286895
diff --git a/N045/stretch3/dr_off/seed_1029/phaserun/000/sim_info/magicsim_manifest.json b/N045/stretch3/dr_off/seed_1029/phaserun/000/sim_info/magicsim_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..c38e721ae272d86c85705aefa82c0245062c1183
--- /dev/null
+++ b/N045/stretch3/dr_off/seed_1029/phaserun/000/sim_info/magicsim_manifest.json
@@ -0,0 +1,228 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 00:18:40"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "HelloRobot",
+                "cfg": "HelloRobotCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "HelloRobot.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HelloRobotBaseAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "HelloRobot.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "arm_action_0",
+                    "arm_action_1",
+                    "arm_action_2",
+                    "arm_action_3",
+                    "arm_action_4",
+                    "arm_action_5",
+                    "arm_action_6"
+                ],
+                "source": "HelloRobotIKAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "HelloRobot.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_pos",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_vel",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "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": [
+                    [
+                        811.3606627541883,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        811.3606388722814,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 43.048473468183616,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.04977099969983101,
+                -0.002942000050097704,
+                1.2957229614257812
+            ],
+            "quat": [
+                -0.6254264116287231,
+                -0.3299117982387543,
+                0.32990962266921997,
+                0.6254276037216187
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        426.91786449658065,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        426.9178503597538,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 73.70742419505024,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.008999999612569809,
+                0.06293900310993195,
+                0.056398000568151474
+            ],
+            "quat": [
+                -1.5083966786733072e-07,
+                1.7244702803509426e-06,
+                0.9961962699890137,
+                0.08713743835687637
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "phaserun/000",
+        "task_type": "PhaseRun"
+    }
+}
\ No newline at end of file
diff --git a/N045/stretch3/dr_off/seed_1029/report.json b/N045/stretch3/dr_off/seed_1029/report.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9e2fecf69ea75556842995070f5684d81246139
--- /dev/null
+++ b/N045/stretch3/dr_off/seed_1029/report.json
@@ -0,0 +1,7609 @@
+{
+  "task": "N045",
+  "level": "easy",
+  "seed": 1029,
+  "episodes_requested": 1,
+  "episodes": [
+    {
+      "task_id": "N045",
+      "task_version": "EXT60-MobileAvatar-v3",
+      "agent_id": "a09",
+      "family_id": "swivel_faucet_recovery",
+      "primary_category": "C3",
+      "level": "easy",
+      "embodiment": "stretch3",
+      "scene_seed": 1029,
+      "execution_mode": "expert_privileged",
+      "station_layout": {
+        "task_id": "N045",
+        "level": "easy",
+        "scene_seed": 1029,
+        "floor_z": 0.03,
+        "spawn_z": 0.06,
+        "spawn": [
+          -3.3,
+          3.2,
+          -1.5707963267948966
+        ],
+        "object_id": "1343",
+        "faucet_xy": [
+          1.2,
+          0.2
+        ],
+        "faucet_yaw": -2.1642082724729685,
+        "lever_on_deg": 60.0,
+        "plinth": [
+          1.2,
+          0.2,
+          0.12
+        ],
+        "plinth_top": 0.49230000000000007,
+        "wait_xy": [
+          -1.4,
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+        [
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+        [
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+        [
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+        [
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+        [
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+        [
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+          0.0,
+          0.0
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+        [
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+          0.0,
+          0.0,
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+          0.0
+        ],
+        [
+          37.0,
+          "nav_op",
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+          0.0,
+          -0.0,
+          0.0,
+          0.0
+        ],
+        [
+          38.0,
+          "nav_op_stop",
+          2.092,
+          4.093,
+          3.243,
+          0.55,
+          0.0,
+          -0.0,
+          0.0,
+          0.0,
+          0.0,
+          0.0,
+          1.571,
+          0.0,
+          -0.0,
+          0.0,
+          0.0
+        ],
+        [
+          39.0,
+          "close_gripper",
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+          4.093,
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+          0.0,
+          -0.0,
+          0.0,
+          -0.0
+        ],
+        [
+          40.0,
+          "pre_push",
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+          3.243,
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+          0.0,
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+        [
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+          "touch",
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+        [
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+        [
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+        [
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+        [
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+          0.0
+        ],
+        [
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+          "push_5",
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+          0.0,
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+          0.0,
+          -0.0
+        ],
+        [
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+          "push_6",
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+          0.097,
+          0.097,
+          0.276,
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+          -0.0,
+          0.0,
+          -0.0
+        ],
+        [
+          48.0,
+          "release",
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+          4.093,
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+          0.09,
+          0.09,
+          0.089,
+          0.386,
+          0.0,
+          0.0,
+          0.0,
+          0.0
+        ]
+      ],
+      "base_cmd_series": [],
+      "hold_base_zeroed": null,
+      "grasp_trace": null,
+      "arm_trace": null,
+      "arm_trace_meta": null,
+      "arm_trace_error": null,
+      "base_probe": null,
+      "base_probe_meta": null,
+      "base_probe_error": null,
+      "joint_names": [
+        "dummy_base_prismatic_x_joint",
+        "dummy_base_prismatic_y_joint",
+        "dummy_base_revolute_z_joint",
+        "joint_lift",
+        "joint_head_pan",
+        "joint_head_tilt",
+        "joint_arm_l3",
+        "joint_arm_l2",
+        "joint_arm_l1",
+        "joint_arm_l0",
+        "joint_wrist_yaw",
+        "joint_wrist_pitch",
+        "joint_wrist_roll",
+        "joint_gripper_finger_left",
+        "joint_gripper_finger_right"
+      ],
+      "joint_series_error": null,
+      "nav_diag_error": "AttributeError: 'Dwb' object has no attribute 'last_safety_status'"
+    }
+  ],
+  "success": true,
+  "collect": {
+    "task": "N045",
+    "robot": "stretch3",
+    "visual_dr": false,
+    "env": {
+      "MMB_COLLECT": "1",
+      "MMB_TASK_ID": "N045",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "0"
+    },
+    "cameras": {
+      "head": {
+        "link": "Robot_0/base_link",
+        "pos": [
+          0.049771,
+          -0.002942,
+          1.295723
+        ],
+        "ori": [
+          0.0002,
+          -55.623,
+          -90.0
+        ],
+        "focal_length": 2.73834228515625,
+        "horizontal_aperture": 2.1600000858306885,
+        "vertical_aperture": 1.62
+      },
+      "wrist": {
+        "link": "Robot_0/link_gripper_s3_body",
+        "pos": [
+          0.009,
+          0.062939,
+          0.056398
+        ],
+        "ori": [
+          -170.0021,
+          0.0,
+          -179.9998
+        ],
+        "focal_length": 1.280753493309021,
+        "horizontal_aperture": 1.9199999570846558,
+        "vertical_aperture": 1.44
+      }
+    },
+    "resolution": [
+      640,
+      480
+    ],
+    "camera_hz": 25,
+    "record": {
+      "formats": [
+        "lerobot_v21",
+        "sim_info"
+      ],
+      "clear_buffer_on_failure": true,
+      "lerobot": {
+        "subsample_every": 2
+      }
+    }
+  },
+  "elapsed_s": 557.5,
+  "n_success": 1
+}
diff --git a/N059/go2_arm/dr_on/seed_2028/data/config_resolved.yaml b/N059/go2_arm/dr_on/seed_2028/data/config_resolved.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..4e0cc2a92e849b0b2f0ff8f49f97d89180240d15
--- /dev/null
+++ b/N059/go2_arm/dr_on/seed_2028/data/config_resolved.yaml
@@ -0,0 +1,792 @@
+env:
+  sim:
+    seed: 2028
+    device: cpu
+    use_fabric: false
+    decimation: 4
+    dt: 0.005
+    soft_resets: 2
+    enable_scene_query_support: true
+    scene:
+      num_envs: 1
+      env_spacing: 14
+    render:
+      rendering_mode: performance
+      enable_reflections: false
+      enable_global_illumination: false
+      enable_translucency: false
+      enable_dl_denoiser: false
+  scene:
+    terrain:
+      type: nav_room
+      collision: true
+      hide_top_walls: true
+      usd:
+      - $MAGICSIM_ASSETS/Room/Collected_SimpleRoom
+      annotation: Annotation
+      random: false
+      pos:
+      - 0.0
+      - 0.0
+      - 0.0
+      ori:
+      - 0.0
+      - 0.0
+      - 0.0
+      scale:
+      - 1.0
+      - 1.0
+      - 1.0
+      physics_material:
+        static_friction: 1.0
+        dynamic_friction: 1.0
+        restitution: 0.0
+        friction_combine_mode: multiply
+        restitution_combine_mode: multiply
+    background:
+      intensity:
+      - 1500
+      - 1500
+    objects:
+      table_a:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - -1.5
+          - 2.4
+          - 0.18
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 1.0
+          - 0.6
+          - 0.3
+        table_a_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          visual:
+            color:
+            - 0.55
+            - 0.42
+            - 0.3
+          physics:
+            type: geometry
+            collision: true
+      table_b:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 1.9
+          - 2.4
+          - 0.18
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 1.0
+          - 0.6
+          - 0.3
+        table_b_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          visual:
+            color:
+            - 0.55
+            - 0.42
+            - 0.3
+          physics:
+            type: geometry
+            collision: true
+      partition:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 0.2
+          - 2.55
+          - 0.78
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.08
+          - 2.3
+          - 1.5
+        partition_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          visual:
+            color:
+            - 0.8
+            - 0.8
+            - 0.84
+          physics:
+            type: geometry
+            collision: true
+      demo_x:
+        usd:
+        - $MAGICSIM_ASSETS/StationMemory/sm_block_x_v2
+        random: false
+        num_per_env: 1
+        common:
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+          pos:
+          - - -1.4999492803512966
+            - 2.22
+            - 0.414
+          - - -1.4999492803512966
+            - 2.22
+            - 0.414
+          ori:
+          - - 0.0
+            - 0.0
+            - 8.11540478911878
+          - - 0.0
+            - 0.0
+            - 8.11540478911878
+        demo_x_1:
+          physics:
+            type: rigid
+            collision: true
+            mass: 0.1
+            physics_material:
+              static_friction: 1.2
+              dynamic_friction: 1.2
+              restitution: 0.0
+      demo_y:
+        usd:
+        - $MAGICSIM_ASSETS/StationMemory/sm_block_y_v2
+        random: false
+        num_per_env: 1
+        common:
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+          pos:
+          - - -1.4999492803512966
+            - 2.22
+            - 0.3565
+          - - -1.4999492803512966
+            - 2.22
+            - 0.3565
+          ori:
+          - - 0.0
+            - 0.0
+            - 8.11540478911878
+          - - 0.0
+            - 0.0
+            - 8.11540478911878
+        demo_y_1:
+          physics:
+            type: rigid
+            collision: true
+            mass: 0.1
+            physics_material:
+              static_friction: 1.2
+              dynamic_friction: 1.2
+              restitution: 0.0
+      block_x:
+        usd:
+        - $MAGICSIM_ASSETS/StationMemory/sm_block_x_v2
+        random: false
+        num_per_env: 1
+        common:
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+          pos:
+          - - 1.7892438414077028
+            - 2.22
+            - 0.36149999999999993
+          - - 1.7892438414077028
+            - 2.22
+            - 0.36149999999999993
+          ori:
+          - - 0.0
+            - 0.0
+            - 0.0
+          - - 0.0
+            - 0.0
+            - 0.0
+        block_x_1:
+          physics:
+            type: rigid
+            collision: true
+            mass: 0.1
+            physics_material:
+              static_friction: 1.2
+              dynamic_friction: 1.2
+              restitution: 0.0
+      block_y:
+        usd:
+        - $MAGICSIM_ASSETS/StationMemory/sm_block_y_v2
+        random: false
+        num_per_env: 1
+        common:
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+          pos:
+          - - 2.0549171236976895
+            - 2.22
+            - 0.3565
+          - - 2.0549171236976895
+            - 2.22
+            - 0.3565
+          ori:
+          - - 0.0
+            - 0.0
+            - 0.0
+          - - 0.0
+            - 0.0
+            - 0.0
+        block_y_1:
+          physics:
+            type: rigid
+            collision: true
+            mass: 0.1
+            physics_material:
+              static_friction: 1.2
+              dynamic_friction: 1.2
+              restitution: 0.0
+  nav:
+    navmesh:
+      min_agent_radius_cm: 30.0
+      max_agent_radius_cm: 30.0
+      validate_path_clearance: true
+      validate_path_window: true
+      validate_path_reroute: true
+      enabled: true
+      visualize: false
+      bake_timeout_s: 180
+      agent_height_cm: 65
+      max_step_height_cm: 20
+      max_floor_slope_deg: 30
+      agent_island_radius_cm: 5
+      auto_exclude_rigid_bodies: true
+      navmesh_offset_z_m: 0
+      verbose: false
+    occupancymap:
+      cell_size: 0.05
+  robot:
+    Go2Plus:
+      name: go2plus
+      type: mobilemanip
+      common:
+        pos:
+        - - -3.1
+          - -2.1
+          - 0.42
+        - - -2.9
+          - -1.9
+          - 0.42
+        ori:
+        - - 0.0
+          - 0.0
+          - 19.999999999999996
+        - - 0.0
+          - 0.0
+          - 40.0
+        initial_joint_pos: null
+      action:
+        base_action: unified
+        arm_action: ik_curobo
+        eef_action: binary
+      reset: default
+      planner:
+        dual_mode: true
+        base_joint_names:
+        - base_x
+        - base_y
+        - base_yaw
+        - base_height
+        ik:
+          type: go2plus
+          enable: true
+          ik_num_instances: 1
+          ik_batch_size: 1
+          ik_max_goalset: 128
+          ik_num_seeds: 64
+          ik_position_threshold: 0.005
+          ik_rotation_threshold: 0.05
+          microbatch_wait_ms: 20.0
+          relative_to_world_frame: false
+          eef_num: 1
+          debug: false
+          seed_use_live_joint_pos: true
+        motiongen:
+          type: go2plus
+          enable: true
+          batch_size: 1
+          debug: false
+          motiongen_num_instances: 1
+          microbatch_wait_ms: 400.0
+          mode: position
+          relative_to_world_frame: false
+          eef_num: 1
+          seed_use_live_joint_pos: true
+          anchor_ik_seeds_to_current_state: false
+          num_trajopt_seeds: 8
+          num_ik_seeds: 64
+          max_attempts: 4
+          joint_limit_retry_weight: 100000000.0
+          start_state_limit_inset: 0.002
+        body:
+          type: nav
+          dwb_type: dwb_quadruped
+          dwb_quadruped:
+            device: cpu
+            dt: 0.02
+            debug: false
+            num_rollout_steps: 60
+            num_speed_samples: 11
+            num_steer_samples: 11
+            num_vx_samples: 7
+            num_vy_samples: 7
+            num_yaw_samples: 7
+            max_accel: 1.5
+            max_steer_rate: 1.5
+            max_accel_vx: 1.5
+            max_accel_vy: 1.5
+            max_yaw_accel: 1.5
+            w_goal: 6.0
+            w_path: 24.0
+            w_vel: 0.2
+            w_vy: 0.0
+            dilate_radius: 0.2
+            goal_cost_mode: path
+            room_size: 12.0
+            occupancy_update_interval: 25
+            scan_height: 0.38
+            scan_min_z: 0.15
+            scan_max_z: 0.63
+            goal_pos_threshold: 0.16
+            goal_yaw_threshold: 0.08
+            goal_yaw_hysteresis: 0.02
+            kp_goal_yaw: 4.0
+            heading_reference: path
+            turn_yaw_threshold: 0.8
+            heading_lookahead: 0.8
+            heading_min_leg: 0.35
+            route_yaw_gain: 2.0
+            min_vx: -0.35
+            max_vx: 0.35
+            min_vy: -0.25
+            max_vy: 0.25
+            min_yaw_rate: -0.8
+            max_yaw_rate: 0.8
+            dynamic_window_source: command
+            default_height: 0.35
+            safety_min_progress_speed: 0.1
+            safety_stop_distance: 0.2
+            safety_enabled: true
+            safety_deceleration: 0.5
+            safety_reaction_time: 0.5
+            safety_release_distance: 0.35
+            scan_type: 3d
+            robot_type: quadruped
+            velocity_frame: body
+          p_controller:
+            velocity_frame: body
+            nav_upgrade_distance: 0.03
+            nav_heading_target: -1
+            kp_linear_x: 3.0
+            kd_linear_x: 0.4
+            kp_linear_y: 3.0
+            kd_linear_y: 0.4
+            kp_angular: 1.5
+            kd_angular: 0.2
+            kp_angular_turning_only: 1.5
+            kd_angular_turning_only: 0.2
+            min_vel: -0.4
+            max_vel: 0.5
+            linear_dead_zone: 0.01
+            angular_dead_zone: 0.05
+        arm:
+          type: default
+        eef:
+          type: default
+      physics:
+        robot_radius: 0.5
+  camera:
+    enable_tiled: false
+    colorize_depth: false
+    head:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.8231182098388672
+        horizontal_aperture: 1.9199999570846558
+        vertical_aperture: 1.4407838582992554
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/Bodies/go2_base
+        pos:
+        - 0.332051
+        - 0.038027
+        - 0.093559
+        ori:
+        - 169.9473
+        - -88.6452
+        - 81.5985
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+    wrist:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.8517500162124634
+        horizontal_aperture: 1.9199999570846558
+        vertical_aperture: 1.4393036365509033
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/Bodies/piper_link6
+        pos:
+        - -0.074987
+        - 0.005289
+        - 0.045821
+        ori:
+        - 179.3135
+        - -20.212
+        - 88.9402
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+task:
+  observation: {}
+  reward: {}
+  termination:
+    timeout_steps: 30000
+    success_hold_frames: 1
+  task_version: EXT60-MobileAvatar-v3
+  agent_id: a12
+  primary_category: C6
+  embodiment: go2_arm
+  execution_mode: collect_chain
+  level: easy
+  scene_seed: 2028
+  layout:
+    floor_z: 0.03
+    room:
+      x:
+      - -3.7
+      - 3.7
+      'y':
+      - -2.55
+      - 4.05
+    S:
+      x: -3.0
+      'y': -2.0
+      yaw_deg: 30.0
+    boxes:
+      table_a:
+        cx: -1.5
+        cy: 2.4
+        sx: 1.0
+        sy: 0.6
+        height: 0.3
+      table_b:
+        cx: 1.9
+        cy: 2.4
+        sx: 1.0
+        sy: 0.6
+        height: 0.3
+      partition:
+        cx: 0.2
+        cy: 2.55
+        sx: 0.08
+        sy: 2.3
+        height: 1.5
+    stations:
+      A:
+        table: table_a
+        outward:
+        - 0.0
+        - -1.0
+      B:
+        table: table_b
+        outward:
+        - 0.0
+        - -1.0
+  stand:
+    standoff: 0.38
+  stretch: {}
+  spawn_z: 0.42
+  stage_retries: 2
+  task_id: N059
+  draw_kind: stack
+  cue_min_fraction: 1.0
+  review_cams:
+  - pos:
+    - -1.0
+    - 1.5
+    - 0.75
+    look_at:
+    - -1.5
+    - 2.22
+    - 0.42
+    focal: 6
+  - pos:
+    - 1.9
+    - 1.45
+    - 0.8
+    look_at:
+    - 1.9
+    - 2.22
+    - 0.4
+    focal: 6
+  - pos:
+    - 3.6
+    - -0.6
+    - 2.6
+    look_at:
+    - 0.2
+    - 2.2
+    - 0.4
+    focal: 5
+  stack:
+    half_row: 0.3
+    min_gap: 0.2
+    max_gap: 0.3
+    half_t1: 0.2
+    yaw_jitter_deg: 10.0
+    legible_size: 0.04
+    xy_tol: 0.02
+    z_tol: 0.012
+    other_tol: 0.06
+    lift_detect: 0.02
+  observe:
+    standoff: 0.9
+  spawn_jitter:
+    x: 0.1
+    'y': 0.1
+    yaw_deg: 10.0
+  items:
+    demo_x:
+      usd: $MAGICSIM_ASSETS/StationMemory/sm_block_x_v2
+      station: A
+      t: 5.0719648703345666e-05
+      depth: 0.12
+      z: 0.084
+      yaw_deg: 8.11540478911878
+      physics:
+        type: rigid
+        collision: true
+        mass: 0.1
+        physics_material:
+          static_friction: 1.2
+          dynamic_friction: 1.2
+          restitution: 0.0
+    demo_y:
+      usd: $MAGICSIM_ASSETS/StationMemory/sm_block_y_v2
+      station: A
+      t: 5.0719648703345666e-05
+      depth: 0.12
+      z: 0.026500000000000003
+      yaw_deg: 8.11540478911878
+      physics:
+        type: rigid
+        collision: true
+        mass: 0.1
+        physics_material:
+          static_friction: 1.2
+          dynamic_friction: 1.2
+          restitution: 0.0
+    block_x:
+      usd: $MAGICSIM_ASSETS/StationMemory/sm_block_x_v2
+      station: B
+      t: -0.11075615859229707
+      depth: 0.12
+      z: 0.0315
+      yaw_deg: 0
+      physics:
+        type: rigid
+        collision: true
+        mass: 0.1
+        physics_material:
+          static_friction: 1.2
+          dynamic_friction: 1.2
+          restitution: 0.0
+    block_y:
+      usd: $MAGICSIM_ASSETS/StationMemory/sm_block_y_v2
+      station: B
+      t: 0.15491712369768978
+      depth: 0.12
+      z: 0.0265
+      yaw_deg: 0
+      physics:
+        type: rigid
+        collision: true
+        mass: 0.1
+        physics_material:
+          static_friction: 1.2
+          dynamic_friction: 1.2
+          restitution: 0.0
+  draw:
+    bottom: 'Y'
+    top: X
+    t1: 5.0719648703345666e-05
+    yaw1_deg: 8.11540478911878
+    start:
+      X: -0.11075615859229707
+      'Y': 0.15491712369768978
+collect:
+  auto_collect:
+    task_type: station
+    max_trajectories: 1
+  record:
+    output_dir: /mnt/scratch/xc536_atomic/n059_go2_on_2028/out/data/record
+    formats:
+    - lerobot_v21
+    - sim_info
+    clear_buffer_on_failure: true
+    lerobot:
+      subsample_every: 2
+  global_planner:
+    NavTo:
+      carry_arm: true
+      use_navmesh: true
+      use_absolute: true
+      translation_threshold: 0.2
+      rotation_threshold: 0.3
+      num_path_segments: 30
+      start_forward_offset: 0.0
+      visualize_path: false
+    MoveL:
+      translation_threshold: 0.003
+      rotation_threshold: 0.2
+      motiongen_distance_threshold: 0.2
+      timeout_steps: 50
+      debug: false
+    MobileMoveL:
+      translation_threshold: 0.006
+      rotation_threshold: 0.2
+      motiongen_distance_threshold: 0.05
+      timeout_steps: 1500
+      stall_release_ticks: 100
+      stall_release_factor: 5.0
+      reactive: false
+      base_pos_threshold: 0.12
+      base_rot_threshold: 0.5
+      eef_pos_threshold: 0.03
+      eef_rot_threshold: 0.3
+      waypoint_max_steps: 8
+      interp_steps: 60
+      interp_validate_target: true
+      retry_mobile_on_locked_plan_failure: true
+    ParallelGripper:
+      gripper_threshold: 0.0005
+      timeout_steps: 60
+  atomic_skill:
+    NavToPose:
+      robot_id: 0
+      position_threshold: 0.12
+      angle_threshold: 0.3
+      show_marker: false
+    Move:
+      arm_planner: MobileMoveL
+      hand_planner: ParallelGripper
+      hold_steps: 10
+      obstacle_avoid_paths:
+      - dynamic
+      obstacle_ignore_paths: []
+      close_value: 1.0
+      open_value: 0.0
+  command:
+    StackBlocksGo2:
+      robot_id: 0
+      hand_id: 0
+      init_limit: 90
+      max_attempt: 2
+      read_ticks: 26
+      pick_beta_deg: 60.0
+      pick_extra: 0.04
+      grasp_dz: 0.01
+      stage_retries: 2
+      stand_hops: 2
+      stand_trigger: 0.09
+      hop_lead: 0.115
+      hop_moved: 0.03
+      hold_idle: true
+      still_window: 20
+      still_move: 0.004
+      still_turn_deg: 0.5
+      still_timeout: 600
+      observe_timeout: 900
+      place_hover: 0.04
+      release_clearance: 0.006
+      retreat_up: 0.12
+env_string: StackOrderEnvGo2-V0
+check:
+  command: StackBlocksGo2
+levels:
+  easy:
+    task:
+      spawn_jitter:
+        x: 0.1
+        'y': 0.1
+        yaw_deg: 10.0
+  medium:
+    task:
+      spawn_jitter:
+        x: 0.2
+        'y': 0.2
+        yaw_deg: 15.0
+  hard:
+    task:
+      spawn_jitter:
+        x: 0.3
+        'y': 0.3
+        yaw_deg: 20.0
+visual_dr:
+  keep:
+  - demo_x
+  - demo_y
+  - block_x
+  - block_y
diff --git a/N059/go2_arm/dr_on/seed_2028/data/frames/episode0_end.png b/N059/go2_arm/dr_on/seed_2028/data/frames/episode0_end.png
new file mode 100644
index 0000000000000000000000000000000000000000..eca4b3b908381160b656400e739cd9afe0465be8
--- /dev/null
+++ b/N059/go2_arm/dr_on/seed_2028/data/frames/episode0_end.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca2c6d46941eb7cd020e5a5ebd0d1f1fd8ebe7deaf45aaf98f0200b126d466dd
+size 450007
diff --git a/N059/go2_arm/dr_on/seed_2028/data/record/check.json b/N059/go2_arm/dr_on/seed_2028/data/record/check.json
new file mode 100644
index 0000000000000000000000000000000000000000..51fe52ea3cff1fd83492207a0441cc84f1e81f54
--- /dev/null
+++ b/N059/go2_arm/dr_on/seed_2028/data/record/check.json
@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.'; expected 'Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1812 rows vs ceil(3623/2) = 1812"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 91..3713, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "27.50 MB, 1812 frames at 25 fps, mean luma 65..135, std 36, new picture 1811x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1812 vs 1812"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "56.36 MB, 1812 frames at 25 fps, mean luma 98..130, std 29, new picture 1811x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1812 vs 1812"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stackblocksgo2/000/sim_info"
+  }
+ }
+}
\ No newline at end of file
diff --git a/N059/go2_arm/dr_on/seed_2028/data/record/check.txt b/N059/go2_arm/dr_on/seed_2028/data/record/check.txt
new file mode 100644
index 0000000000000000000000000000000000000000..834a438bc68c3ecf7b4fe8f82615439aac564ab3
--- /dev/null
+++ b/N059/go2_arm/dr_on/seed_2028/data/record/check.txt
@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n059_go2_on_2028/out/data/record  task=N059  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n059_go2_on_2028/out/data/record/stackblocksgo2/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1812  videos 2  robot_type Go2PlusCfg
+[PASS] codebase v2.1: v2.1
+[PASS] dataset fps = 25: info.fps 25
+(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only)
+[PASS] parquet episodes: 1 files, info.total_episodes=1
+--- episode file episode_000000.parquet: 1812 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']
+[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']
+[PASS] task text = MobileBench instruction: task_index 0: 'Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.'; expected 'Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.'
+rows 1812 at dataset fps 25 = 72.48 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1812 rows vs ceil(3623/2) = 1812
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 91..3713, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 27.50 MB, 1812 frames at 25 fps, mean luma 65..135, std 36, new picture 1811x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1812 vs 1812
+[PASS] video observation.images.wrist decodes, 640x480, not black: 56.36 MB, 1812 frames at 25 fps, mean luma 98..130, std 29, new picture 1811x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1812 vs 1812
+parquet size 3.20 MB
+[PASS] sim_info present: stackblocksgo2/000/sim_info
+dataset size 87.29 MB; whole cell dir 89.0 MB
+RESULT: ALL PASS
diff --git a/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/completed/0.json b/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/completed/0.json
new file mode 100644
index 0000000000000000000000000000000000000000..82f981258cf5d81f6aebbcfb9a667826af806f42
--- /dev/null
+++ b/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/completed/0.json
@@ -0,0 +1 @@
+{"run_id": "stackblocksgo2/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null}
\ No newline at end of file
diff --git a/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/lerobot_v21/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..da7ad2fa32242d76841ba33427905b4f39c4f986
--- /dev/null
+++ b/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/lerobot_v21/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d86ee6411db9bfe0665520f4196da972c83ffffb4c431e840c72f6974ff0d09
+size 3199325
diff --git a/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/lerobot_v21/meta/episodes.jsonl b/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/lerobot_v21/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..30490bb1eaa2b1c651662b209a8cb7aef1baecf1
--- /dev/null
+++ b/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/lerobot_v21/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order."], "length": 1812, "magicsim/control_steps": 3623, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the demo y. There are a large gray table a, a large gray table b, a large white partition, a small demo x, a small demo y, a small block x and a small block y. The gray table a is to the left of the demo y. The gray table b is to the left of the block x. The white partition is to the left of the block x. The demo x is on top of the demo y. The block x is to the left of the block y. The block y is to the right of the block x. The scene is viewed from front, at table height."}
diff --git a/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/lerobot_v21/meta/episodes_stats.jsonl b/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/lerobot_v21/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..09fc031fc153548ba7b53f60cf1b0d55398e76c6
--- /dev/null
+++ b/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/lerobot_v21/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
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diff --git a/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/lerobot_v21/meta/extra/episode_000000.json b/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/lerobot_v21/meta/extra/episode_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..49da450003cfe54a8f10ff4d76b514569cbccb4c
--- /dev/null
+++ b/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/lerobot_v21/meta/extra/episode_000000.json
@@ -0,0 +1,414 @@
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+     "facing_yaw_deg": 37.54840772330778,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1500.0,
+    "ambient": "bright"
+   },
+   "effects": [],
+   "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the demo y. There are a large gray table a, a large gray table b, a large white partition, a small demo x, a small demo y, a small block x and a small block y. The gray table a is to the left of the demo y. The gray table b is to the left of the block x. The white partition is to the left of the block x. The demo x is on top of the demo y. The block x is to the left of the block y. The block y is to the right of the block x. The scene is viewed from front, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                      [block y]\n\n          [partition]\n[t[demo y]\n\n\n\n\n                        [robot]"
+  },
+  "task": {
+   "task_type": "StackBlocksGo2",
+   "instruction": "Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Stackblocksgo2 the 1.5707963267948966.",
+   "task_id": "N059",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {}
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": false,
+ "truncated": false
+}
\ No newline at end of file
diff --git a/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/lerobot_v21/meta/info.json b/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/lerobot_v21/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..931dc3e933ae426b7ec655ca82e5f5957e66e350
--- /dev/null
+++ b/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/lerobot_v21/meta/info.json
@@ -0,0 +1,323 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "Go2PlusCfg",
+    "total_episodes": 1,
+    "total_frames": 1812,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                "base_action_0",
+                "base_action_1",
+                "base_action_2",
+                "base_action_3",
+                "eef0.pos_x",
+                "eef0.pos_y",
+                "eef0.pos_z",
+                "eef0.quat_w",
+                "eef0.quat_x",
+                "eef0.quat_y",
+                "eef0.quat_z",
+                "gripper"
+            ]
+        },
+        "action_is_hold": {
+            "dtype": "bool",
+            "shape": [
+                12
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                26
+            ],
+            "names": [
+                "joint_0",
+                "joint_1",
+                "joint_2",
+                "joint_3",
+                "joint_4",
+                "joint_5",
+                "joint_6",
+                "joint_7",
+                "joint_8",
+                "joint_9",
+                "joint_10",
+                "joint_11",
+                "joint_12",
+                "joint_13",
+                "joint_14",
+                "joint_15",
+                "joint_16",
+                "joint_17",
+                "joint_18",
+                "joint_19",
+                "joint_20",
+                "joint_21",
+                "joint_22",
+                "joint_23",
+                "gripper_0",
+                "gripper_1"
+            ]
+        },
+        "observation.joint_vel": {
+            "dtype": "float32",
+            "shape": [
+                20
+            ],
+            "names": [
+                "go2_FL_hip_joint",
+                "go2_FR_hip_joint",
+                "go2_RL_hip_joint",
+                "go2_RR_hip_joint",
+                "piper_joint1",
+                "go2_FL_thigh_joint",
+                "go2_FR_thigh_joint",
+                "go2_RL_thigh_joint",
+                "go2_RR_thigh_joint",
+                "piper_joint2",
+                "go2_FL_calf_joint",
+                "go2_FR_calf_joint",
+                "go2_RL_calf_joint",
+                "go2_RR_calf_joint",
+                "piper_joint3",
+                "piper_joint4",
+                "piper_joint5",
+                "piper_joint6",
+                "piper_joint7",
+                "piper_joint8"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                57
+            ],
+            "names": [
+                "cue_displayed.stack.0",
+                "object_pose.block_x.0",
+                "object_pose.block_x.1",
+                "object_pose.block_x.2",
+                "object_pose.block_x.3",
+                "object_pose.block_x.4",
+                "object_pose.block_x.5",
+                "object_pose.block_x.6",
+                "object_pose.block_y.0",
+                "object_pose.block_y.1",
+                "object_pose.block_y.2",
+                "object_pose.block_y.3",
+                "object_pose.block_y.4",
+                "object_pose.block_y.5",
+                "object_pose.block_y.6",
+                "object_pose.demo_x.0",
+                "object_pose.demo_x.1",
+                "object_pose.demo_x.2",
+                "object_pose.demo_x.3",
+                "object_pose.demo_x.4",
+                "object_pose.demo_x.5",
+                "object_pose.demo_x.6",
+                "object_pose.demo_y.0",
+                "object_pose.demo_y.1",
+                "object_pose.demo_y.2",
+                "object_pose.demo_y.3",
+                "object_pose.demo_y.4",
+                "object_pose.demo_y.5",
+                "object_pose.demo_y.6",
+                "object_pose.partition.0",
+                "object_pose.partition.1",
+                "object_pose.partition.2",
+                "object_pose.partition.3",
+                "object_pose.partition.4",
+                "object_pose.partition.5",
+                "object_pose.partition.6",
+                "object_pose.table_a.0",
+                "object_pose.table_a.1",
+                "object_pose.table_a.2",
+                "object_pose.table_a.3",
+                "object_pose.table_a.4",
+                "object_pose.table_a.5",
+                "object_pose.table_a.6",
+                "object_pose.table_b.0",
+                "object_pose.table_b.1",
+                "object_pose.table_b.2",
+                "object_pose.table_b.3",
+                "object_pose.table_b.4",
+                "object_pose.table_b.5",
+                "object_pose.table_b.6",
+                "object_visible.block_x.0",
+                "object_visible.block_y.0",
+                "object_visible.demo_x.0",
+                "object_visible.demo_y.0",
+                "object_visible.partition.0",
+                "object_visible.table_a.0",
+                "object_visible.table_b.0"
+            ]
+        },
+        "action.command": {
+            "dtype": "float32",
+            "shape": [
+                1040
+            ],
+            "names": null
+        },
+        "action.applied": {
+            "dtype": "float32",
+            "shape": [
+                20
+            ],
+            "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
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/lerobot_v21/meta/magicsim_manifest.json b/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/lerobot_v21/meta/magicsim_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..d116b0587ab22d95fa8abd1ac2609f182b644c69
--- /dev/null
+++ b/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/lerobot_v21/meta/magicsim_manifest.json
@@ -0,0 +1,290 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 00:09:55"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "Go2Plus",
+                "cfg": "Go2PlusCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
+                ]
+            }
+        ]
+    },
+    "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": 12,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "Go2Plus.base_action",
+                "start": 0,
+                "end": 4,
+                "names": [
+                    "base_action_0",
+                    "base_action_1",
+                    "base_action_2",
+                    "base_action_3"
+                ],
+                "source": "Go2UnifiedLocomotionAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "Go2Plus.arm_action",
+                "start": 4,
+                "end": 11,
+                "names": [
+                    "eef0.pos_x",
+                    "eef0.pos_y",
+                    "eef0.pos_z",
+                    "eef0.quat_w",
+                    "eef0.quat_x",
+                    "eef0.quat_y",
+                    "eef0.quat_z"
+                ],
+                "source": "Go2PlusCuroboIKAction",
+                "names_source": "pose_layout"
+            },
+            {
+                "name": "Go2Plus.eef_action",
+                "start": 11,
+                "end": 12,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 26,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_pos",
+                "start": 0,
+                "end": 24,
+                "names": [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11",
+                    "joint_12",
+                    "joint_13",
+                    "joint_14",
+                    "joint_15",
+                    "joint_16",
+                    "joint_17",
+                    "joint_18",
+                    "joint_19",
+                    "joint_20",
+                    "joint_21",
+                    "joint_22",
+                    "joint_23"
+                ],
+                "source": "ObservationManager",
+                "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)"
+            },
+            {
+                "name": "Go2Plus.gripper_pos",
+                "start": 24,
+                "end": 26,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 20,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_vel",
+                "start": 0,
+                "end": 20,
+                "names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
+                ],
+                "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": [
+                    [
+                        607.7061061683956,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        607.3754374751866,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 55.53991912549515,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.33205100893974304,
+                0.038026999682188034,
+                0.09355899691581726
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+            "quat": [
+                -0.5022302269935608,
+                -0.499491810798645,
+                0.5120040774345398,
+                0.4859265089035034
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+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
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+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        617.548655622722,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 54.807019583348044,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
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+            "quat": [
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+                -0.6904057860374451,
+                -0.12108422070741653
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+        }
+    },
+    "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": "stackblocksgo2/000",
+        "task_type": "StackBlocksGo2"
+    }
+}
\ No newline at end of file
diff --git a/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/lerobot_v21/meta/stats.json b/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/lerobot_v21/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..e93c8efc2beaa593c3d6fcac3771ea3fa1959fd1
--- /dev/null
+++ b/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/lerobot_v21/meta/stats.json
@@ -0,0 +1,5181 @@
+{
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+}
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diff --git a/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4
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+                                "scan_type": "3d",
+                                "robot_type": "quadruped",
+                                "velocity_frame": "body"
+                            },
+                            "p_controller": {
+                                "velocity_frame": "body",
+                                "nav_upgrade_distance": 0.03,
+                                "nav_heading_target": -1,
+                                "kp_linear_x": 3.0,
+                                "kd_linear_x": 0.4,
+                                "kp_linear_y": 3.0,
+                                "kd_linear_y": 0.4,
+                                "kp_angular": 1.5,
+                                "kd_angular": 0.2,
+                                "kp_angular_turning_only": 1.5,
+                                "kd_angular_turning_only": 0.2,
+                                "min_vel": -0.4,
+                                "max_vel": 0.5,
+                                "linear_dead_zone": 0.01,
+                                "angular_dead_zone": 0.05
+                            }
+                        },
+                        "arm": {
+                            "type": "default"
+                        },
+                        "eef": {
+                            "type": "default"
+                        }
+                    },
+                    "physics": {
+                        "robot_radius": 0.5
+                    }
+                }
+            },
+            "camera": {
+                "enable_tiled": false,
+                "colorize_depth": false,
+                "head": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 1.8231182098388672,
+                        "horizontal_aperture": 1.9199999570846558,
+                        "vertical_aperture": 1.4407838582992554,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/Bodies/go2_base",
+                        "pos": [
+                            0.332051,
+                            0.038027,
+                            0.093559
+                        ],
+                        "ori": [
+                            169.9473,
+                            -88.6452,
+                            81.5985
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                },
+                "wrist": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 1.8517500162124634,
+                        "horizontal_aperture": 1.9199999570846558,
+                        "vertical_aperture": 1.4393036365509033,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/Bodies/piper_link6",
+                        "pos": [
+                            -0.074987,
+                            0.005289,
+                            0.045821
+                        ],
+                        "ori": [
+                            179.3135,
+                            -20.212,
+                            88.9402
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                }
+            }
+        },
+        "task": {
+            "observation": {},
+            "reward": {},
+            "termination": {
+                "timeout_steps": 30000,
+                "success_hold_frames": 1
+            },
+            "task_version": "EXT60-MobileAvatar-v3",
+            "agent_id": "a12",
+            "primary_category": "C6",
+            "embodiment": "go2_arm",
+            "execution_mode": "collect_chain",
+            "level": "easy",
+            "scene_seed": 2028,
+            "layout": {
+                "floor_z": 0.03,
+                "room": {
+                    "x": [
+                        -3.7,
+                        3.7
+                    ],
+                    "y": [
+                        -2.55,
+                        4.05
+                    ]
+                },
+                "S": {
+                    "x": -3.0,
+                    "y": -2.0,
+                    "yaw_deg": 30.0
+                },
+                "boxes": {
+                    "table_a": {
+                        "cx": -1.5,
+                        "cy": 2.4,
+                        "sx": 1.0,
+                        "sy": 0.6,
+                        "height": 0.3
+                    },
+                    "table_b": {
+                        "cx": 1.9,
+                        "cy": 2.4,
+                        "sx": 1.0,
+                        "sy": 0.6,
+                        "height": 0.3
+                    },
+                    "partition": {
+                        "cx": 0.2,
+                        "cy": 2.55,
+                        "sx": 0.08,
+                        "sy": 2.3,
+                        "height": 1.5
+                    }
+                },
+                "stations": {
+                    "A": {
+                        "table": "table_a",
+                        "outward": [
+                            0.0,
+                            -1.0
+                        ]
+                    },
+                    "B": {
+                        "table": "table_b",
+                        "outward": [
+                            0.0,
+                            -1.0
+                        ]
+                    }
+                }
+            },
+            "stand": {
+                "standoff": 0.38
+            },
+            "stretch": {},
+            "spawn_z": 0.42,
+            "stage_retries": 2,
+            "task_id": "N059",
+            "draw_kind": "stack",
+            "cue_min_fraction": 1.0,
+            "review_cams": [
+                {
+                    "pos": [
+                        -1.0,
+                        1.5,
+                        0.75
+                    ],
+                    "look_at": [
+                        -1.5,
+                        2.22,
+                        0.42
+                    ],
+                    "focal": 6
+                },
+                {
+                    "pos": [
+                        1.9,
+                        1.45,
+                        0.8
+                    ],
+                    "look_at": [
+                        1.9,
+                        2.22,
+                        0.4
+                    ],
+                    "focal": 6
+                },
+                {
+                    "pos": [
+                        3.6,
+                        -0.6,
+                        2.6
+                    ],
+                    "look_at": [
+                        0.2,
+                        2.2,
+                        0.4
+                    ],
+                    "focal": 5
+                }
+            ],
+            "stack": {
+                "half_row": 0.3,
+                "min_gap": 0.2,
+                "max_gap": 0.3,
+                "half_t1": 0.2,
+                "yaw_jitter_deg": 10.0,
+                "legible_size": 0.04,
+                "xy_tol": 0.02,
+                "z_tol": 0.012,
+                "other_tol": 0.06,
+                "lift_detect": 0.02
+            },
+            "observe": {
+                "standoff": 0.9
+            },
+            "spawn_jitter": {
+                "x": 0.1,
+                "y": 0.1,
+                "yaw_deg": 10.0
+            },
+            "items": {
+                "demo_x": {
+                    "usd": "$MAGICSIM_ASSETS/StationMemory/sm_block_x_v2",
+                    "station": "A",
+                    "t": 5.0719648703345666e-05,
+                    "depth": 0.12,
+                    "z": 0.084,
+                    "yaw_deg": 8.11540478911878,
+                    "physics": {
+                        "type": "rigid",
+                        "collision": true,
+                        "mass": 0.1,
+                        "physics_material": {
+                            "static_friction": 1.2,
+                            "dynamic_friction": 1.2,
+                            "restitution": 0.0
+                        }
+                    }
+                },
+                "demo_y": {
+                    "usd": "$MAGICSIM_ASSETS/StationMemory/sm_block_y_v2",
+                    "station": "A",
+                    "t": 5.0719648703345666e-05,
+                    "depth": 0.12,
+                    "z": 0.026500000000000003,
+                    "yaw_deg": 8.11540478911878,
+                    "physics": {
+                        "type": "rigid",
+                        "collision": true,
+                        "mass": 0.1,
+                        "physics_material": {
+                            "static_friction": 1.2,
+                            "dynamic_friction": 1.2,
+                            "restitution": 0.0
+                        }
+                    }
+                },
+                "block_x": {
+                    "usd": "$MAGICSIM_ASSETS/StationMemory/sm_block_x_v2",
+                    "station": "B",
+                    "t": -0.11075615859229707,
+                    "depth": 0.12,
+                    "z": 0.0315,
+                    "yaw_deg": 0,
+                    "physics": {
+                        "type": "rigid",
+                        "collision": true,
+                        "mass": 0.1,
+                        "physics_material": {
+                            "static_friction": 1.2,
+                            "dynamic_friction": 1.2,
+                            "restitution": 0.0
+                        }
+                    }
+                },
+                "block_y": {
+                    "usd": "$MAGICSIM_ASSETS/StationMemory/sm_block_y_v2",
+                    "station": "B",
+                    "t": 0.15491712369768978,
+                    "depth": 0.12,
+                    "z": 0.0265,
+                    "yaw_deg": 0,
+                    "physics": {
+                        "type": "rigid",
+                        "collision": true,
+                        "mass": 0.1,
+                        "physics_material": {
+                            "static_friction": 1.2,
+                            "dynamic_friction": 1.2,
+                            "restitution": 0.0
+                        }
+                    }
+                }
+            },
+            "draw": {
+                "bottom": "Y",
+                "top": "X",
+                "t1": 5.0719648703345666e-05,
+                "yaw1_deg": 8.11540478911878,
+                "start": {
+                    "X": -0.11075615859229707,
+                    "Y": 0.15491712369768978
+                }
+            },
+            "command": {
+                "StackBlocksGo2": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "init_limit": 90,
+                    "max_attempt": 2,
+                    "read_ticks": 26,
+                    "pick_beta_deg": 60.0,
+                    "pick_extra": 0.04,
+                    "grasp_dz": 0.01,
+                    "stage_retries": 2,
+                    "stand_hops": 2,
+                    "stand_trigger": 0.09,
+                    "hop_lead": 0.115,
+                    "hop_moved": 0.03,
+                    "hold_idle": true,
+                    "still_window": 20,
+                    "still_move": 0.004,
+                    "still_turn_deg": 0.5,
+                    "still_timeout": 600,
+                    "observe_timeout": 900,
+                    "place_hover": 0.04,
+                    "release_clearance": 0.006,
+                    "retreat_up": 0.12
+                }
+            }
+        },
+        "collect": {
+            "auto_collect": {
+                "task_type": "station",
+                "max_trajectories": 1
+            },
+            "record": {
+                "output_dir": "/mnt/scratch/xc536_atomic/n059_go2_on_2028/out/data/record",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            },
+            "global_planner": {
+                "NavTo": {
+                    "carry_arm": true,
+                    "use_navmesh": true,
+                    "use_absolute": true,
+                    "translation_threshold": 0.2,
+                    "rotation_threshold": 0.3,
+                    "num_path_segments": 30,
+                    "start_forward_offset": 0.0,
+                    "visualize_path": false
+                },
+                "MoveL": {
+                    "translation_threshold": 0.003,
+                    "rotation_threshold": 0.2,
+                    "motiongen_distance_threshold": 0.2,
+                    "timeout_steps": 50,
+                    "debug": false
+                },
+                "MobileMoveL": {
+                    "translation_threshold": 0.006,
+                    "rotation_threshold": 0.2,
+                    "motiongen_distance_threshold": 0.05,
+                    "timeout_steps": 1500,
+                    "stall_release_ticks": 100,
+                    "stall_release_factor": 5.0,
+                    "reactive": false,
+                    "base_pos_threshold": 0.12,
+                    "base_rot_threshold": 0.5,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.3,
+                    "waypoint_max_steps": 8,
+                    "interp_steps": 60,
+                    "interp_validate_target": true,
+                    "retry_mobile_on_locked_plan_failure": true
+                },
+                "ParallelGripper": {
+                    "gripper_threshold": 0.0005,
+                    "timeout_steps": 60
+                }
+            },
+            "atomic_skill": {
+                "NavToPose": {
+                    "robot_id": 0,
+                    "position_threshold": 0.12,
+                    "angle_threshold": 0.3,
+                    "show_marker": false
+                },
+                "Move": {
+                    "arm_planner": "MobileMoveL",
+                    "hand_planner": "ParallelGripper",
+                    "hold_steps": 10,
+                    "obstacle_avoid_paths": [
+                        "dynamic"
+                    ],
+                    "obstacle_ignore_paths": [],
+                    "close_value": 1.0,
+                    "open_value": 0.0
+                }
+            },
+            "command": {
+                "StackBlocksGo2": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "init_limit": 90,
+                    "max_attempt": 2,
+                    "read_ticks": 26,
+                    "pick_beta_deg": 60.0,
+                    "pick_extra": 0.04,
+                    "grasp_dz": 0.01,
+                    "stage_retries": 2,
+                    "stand_hops": 2,
+                    "stand_trigger": 0.09,
+                    "hop_lead": 0.115,
+                    "hop_moved": 0.03,
+                    "hold_idle": true,
+                    "still_window": 20,
+                    "still_move": 0.004,
+                    "still_turn_deg": 0.5,
+                    "still_timeout": 600,
+                    "observe_timeout": 900,
+                    "place_hover": 0.04,
+                    "release_clearance": 0.006,
+                    "retreat_up": 0.12
+                }
+            }
+        },
+        "env_string": "StackOrderEnvGo2-V0",
+        "check": {
+            "command": "StackBlocksGo2"
+        },
+        "levels": {
+            "easy": {
+                "task": {
+                    "spawn_jitter": {
+                        "x": 0.1,
+                        "y": 0.1,
+                        "yaw_deg": 10.0
+                    }
+                }
+            },
+            "medium": {
+                "task": {
+                    "spawn_jitter": {
+                        "x": 0.2,
+                        "y": 0.2,
+                        "yaw_deg": 15.0
+                    }
+                }
+            },
+            "hard": {
+                "task": {
+                    "spawn_jitter": {
+                        "x": 0.3,
+                        "y": 0.3,
+                        "yaw_deg": 20.0
+                    }
+                }
+            }
+        },
+        "visual_dr": {
+            "keep": [
+                "demo_x",
+                "demo_y",
+                "block_x",
+                "block_y"
+            ]
+        }
+    },
+    "git_sha": null,
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}
\ No newline at end of file
diff --git a/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/sim_info/0/actions.npz b/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/sim_info/0/actions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cd952e3aa4eed1ca84eae772c8682c1b1e30c528
--- /dev/null
+++ b/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/sim_info/0/actions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f881fa6cf79b452194bbf16d9ad55fe1d24ff2db812f3af2318215e6b8ab9108
+size 690025
diff --git a/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/sim_info/0/device_commands.jsonl b/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/sim_info/0/device_commands.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/sim_info/0/device_events.jsonl b/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/sim_info/0/device_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/sim_info/0/scene_snapshot.json b/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/sim_info/0/scene_snapshot.json
new file mode 100644
index 0000000000000000000000000000000000000000..3d26c5d09e3e6fe7a3d872ba6e58a03f70c1d8d6
--- /dev/null
+++ b/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/sim_info/0/scene_snapshot.json
@@ -0,0 +1,502 @@
+{
+    "trajectory_id": 0,
+    "env_id": 0,
+    "run_id": "stackblocksgo2/000",
+    "task_type": "StackBlocksGo2",
+    "success": true,
+    "timing": {
+        "fps": 50.0,
+        "sim_dt": 0.005,
+        "decimation": 4
+    },
+    "restore_interface": {
+        "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
+    },
+    "snapshot": {
+        "env_id": 0,
+        "scene": {
+            "objects": [
+                {
+                    "table_a": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    -1.5,
+                                    2.4,
+                                    0.18
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    1.0,
+                                    0.6,
+                                    0.3
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.55,
+                                        0.42,
+                                        0.3
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1.0,
+                                        1.0,
+                                        1.0
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "table_b": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    1.9,
+                                    2.4,
+                                    0.18
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    1.0,
+                                    0.6,
+                                    0.3
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.55,
+                                        0.42,
+                                        0.3
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1.0,
+                                        1.0,
+                                        1.0
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "partition": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    0.2,
+                                    2.55,
+                                    0.78
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.08,
+                                    2.3,
+                                    1.5
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.8,
+                                        0.8,
+                                        0.84
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1.0,
+                                        1.0,
+                                        1.0
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "demo_x": [
+                        {
+                            "asset": "/mnt/scratch/xc536_atomic_local/repo_b3820fd82/Assets/StationMemory/sm_block_x_v2/Object.usd",
+                            "pose": {
+                                "pos": [
+                                    -1.4999510049819946,
+                                    2.2199995517730713,
+                                    0.41000017523765564
+                                ],
+                                "ori": [
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+                                    2.560457460276666e-06,
+                                    -7.730562174401712e-06,
+                                    0.07076269388198853
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "rigid",
+                                    "collision": true,
+                                    "mass": 0.1,
+                                    "physics_material": {
+                                        "static_friction": 1.2,
+                                        "dynamic_friction": 1.2,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "linear_velocity": [
+                                    0.00019245424482505769,
+                                    0.00043236566125415266,
+                                    -0.0005770180141553283
+                                ],
+                                "angular_velocity": [
+                                    0.008693598210811615,
+                                    -0.0011166357435286045,
+                                    -0.0038243664894253016
+                                ]
+                            }
+                        }
+                    ],
+                    "demo_y": [
+                        {
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+}
\ No newline at end of file
diff --git a/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/sim_info/0/sim_states.npz b/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/sim_info/0/sim_states.npz
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index 0000000000000000000000000000000000000000..006f5581ddc7aee82ab5b79687a58c25caa31bb8
--- /dev/null
+++ b/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/sim_info/0/sim_states.npz
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+size 934475
diff --git a/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/sim_info/magicsim_manifest.json b/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/sim_info/magicsim_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..5eacaf2e8cdaa37315c037d2c420261e8459858d
--- /dev/null
+++ b/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/sim_info/magicsim_manifest.json
@@ -0,0 +1,259 @@
+{
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+    "generated": {
+        "time": "2026-11-10 00:10:22"
+    },
+    "embodiment": {
+        "robots": [
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+                "name": "Go2Plus",
+                "cfg": "Go2PlusCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
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+                    "piper_joint4",
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+    "timing": {
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+        "fps_int": 50,
+        "sim_dt": 0.005,
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+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
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+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
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+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
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+                "source": "ObservationManager",
+                "names_source": "joint_names"
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+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
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+        "task_type": "StackBlocksGo2"
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+}
\ No newline at end of file
diff --git a/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/visual_dr.json b/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/visual_dr.json
new file mode 100644
index 0000000000000000000000000000000000000000..d32f3d9294c6da546cfc131bf29c875b56078185
--- /dev/null
+++ b/N059/go2_arm/dr_on/seed_2028/data/record/stackblocksgo2/000/visual_dr.json
@@ -0,0 +1,365 @@
+{
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+  "material_library": "$MAGICSIM_ASSETS/Material"
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+   "episode_seed": 2028,
+   "seeds": {
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+   "swapped": [
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+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor",
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+     "mdl": "Ground/Rough_Gravel.mdl",
+     "material": "/MmbVdrLooks/Ground_Rough_Gravel",
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+     "pool_size": 42,
+     "bind_failed": 0
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+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic",
+     "role": "wall",
+     "mdl": "Source/Concrete/Concrete_Wall_Aged_Scratched.mdl",
+     "material": "/MmbVdrLooks/Source_Concrete_Concrete_Wall_Aged_Scratched",
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+     "pool_size": 28,
+     "bind_failed": 0
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+    {
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+     "mdl": "Source/Paint/Paint_Gun_Metal.mdl",
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+     "pool_size": 28,
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+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
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+    "block_x": 1,
+    "block_y": 1
+   },
+   "physics_skip": {
+    "physics_binding": 7,
+    "rigid_body": 222,
+    "examples": [
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower1_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower1_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower1_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RR_calf/go2_RR_calf_geometry/visual_0",
+      "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
+    }
+   ]
+  }
+ ]
+}
\ No newline at end of file
diff --git a/N059/go2_arm/dr_on/seed_2028/report.json b/N059/go2_arm/dr_on/seed_2028/report.json
new file mode 100644
index 0000000000000000000000000000000000000000..683fed6356b52dda6fbb50ed68bbce382f6c6a1c
--- /dev/null
+++ b/N059/go2_arm/dr_on/seed_2028/report.json
@@ -0,0 +1,24040 @@
+{
+  "success": true,
+  "task": "N059",
+  "config": "src/magicsim/Collect/Task/StationMemory/Conf/n059_stack_order_go2.yaml",
+  "level": "easy",
+  "scene_seed": 2028,
+  "episodes": [
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+      "embodiment": "go2_arm",
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+      "episode_index": 0,
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+            [
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+            [
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+              1.1
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+            [
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+            [
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+            [
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+            [
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+            [
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+            [
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+            [
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+            [
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+            [
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+              1.16
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+              1.16
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+            [
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+              1.17
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+            [
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+              1.17
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+            [
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+              1.17
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+            [
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+              1.18
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+            [
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+              1.18
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+            [
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+            [
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+            [
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+              1.2
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+            [
+              1.66,
+              1.2
+            ],
+            [
+              1.74,
+              1.21
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+          ],
+          "success": true,
+          "validated_points": 64,
+          "repaired": false,
+          "clearance_radius_m": 0.2,
+          "window_m": 12.0,
+          "window": "path",
+          "scan_s": 0.57
+        },
+        {
+          "tick": 1495,
+          "stage": "nav_B",
+          "ok": true,
+          "points": 11,
+          "native_points": 11,
+          "native_length": 0.532,
+          "native_path": [
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+            [
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+          "validated_points": 11,
+          "repaired": false,
+          "clearance_radius_m": 0.2,
+          "window_m": 12.0,
+          "window": "path",
+          "scan_s": 0.6
+        },
+        {
+          "tick": 1671,
+          "stage": "nav_B_hop1",
+          "ok": true,
+          "points": 7,
+          "native_points": 7,
+          "native_length": 0.301,
+          "native_path": [
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+            [
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+          "success": true,
+          "validated_points": 7,
+          "repaired": false,
+          "clearance_radius_m": 0.2,
+          "window_m": 12.0,
+          "window": "path",
+          "scan_s": 0.61
+        },
+        {
+          "tick": 2519,
+          "stage": "nav_B2",
+          "ok": true,
+          "points": 8,
+          "native_points": 8,
+          "native_length": 0.387,
+          "native_path": [
+            [
+              1.74,
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+            [
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+            [
+              2.08,
+              1.64
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+            [
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+          ],
+          "success": true,
+          "validated_points": 8,
+          "repaired": false,
+          "clearance_radius_m": 0.2,
+          "window_m": 12.0,
+          "window": "path",
+          "scan_s": 0.63
+        },
+        {
+          "tick": 2851,
+          "stage": "nav_B2_hop1",
+          "ok": true,
+          "points": 7,
+          "native_points": 7,
+          "native_length": 0.253,
+          "native_path": [
+            [
+              1.95,
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+            [
+              1.96,
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+              2.05,
+              1.69
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+            [
+              2.05,
+              1.7
+            ],
+            [
+              2.13,
+              1.75
+            ],
+            [
+              2.16,
+              1.73
+            ]
+          ],
+          "success": true,
+          "validated_points": 7,
+          "repaired": false,
+          "clearance_radius_m": 0.2,
+          "window_m": 12.0,
+          "window": "path",
+          "scan_s": 0.59
+        }
+      ],
+      "violations": [],
+      "failures": [],
+      "metrics": {
+        "bottom": "Y",
+        "top": "X",
+        "first_lift": "X",
+        "top_lifted_first": true,
+        "stacked_right_order": true,
+        "stacked_wrong_order": false,
+        "dxy_m": 0.0015,
+        "dz_m": 0.055,
+        "dz_wanted_m": 0.055,
+        "bottom_shift_m": 0.0,
+        "both_on_table_2": true,
+        "decision_mode": "memory",
+        "decision_label": "top=X",
+        "route": [
+          "A",
+          "B"
+        ],
+        "manipulation_success": true,
+        "mobile_success": true
+      },
+      "notes": {
+        "stack_truth": {
+          "bottom": "Y",
+          "top": "X",
+          "t1": 0.0,
+          "start": {
+            "X": -0.111,
+            "Y": 0.155
+          }
+        },
+        "observe_poses": {
+          "A": [
+            -1.49994957447052,
+            1.2000000000000002,
+            1.5707963267948966
+          ],
+          "B": [
+            1.9220804825526963,
+            1.2000000000000002,
+            1.5707963267948966
+          ]
+        },
+        "saved_stack": {
+          "X": [
+            -1.5,
+            2.22,
+            0.41
+          ],
+          "Y": [
+            -1.4999,
+            2.22,
+            0.355
+          ]
+        },
+        "pick_stand": [
+          2.055,
+          1.72,
+          1.571,
+          0.12
+        ],
+        "nav_B_stand_0": {
+          "base": [
+            1.738,
+            1.517,
+            100.5
+          ],
+          "off_m": 0.171,
+          "ahead": 0.163,
+          "left": -0.051
+        },
+        "nav_B_stand_1": {
+          "base": [
+            1.742,
+            1.637,
+            84.9
+          ],
+          "off_m": 0.064,
+          "ahead": 0.043,
+          "left": -0.047
+        },
+        "pick_aim": {
+          "az_deg": 84.9,
+          "tcp": [
+            1.789,
+            2.22,
+            0.37
+          ]
+        },
+        "settle_err_mm_1": [
+          -0.0,
+          0.7,
+          -0.3
+        ],
+        "settle_err_mm_2": [
+          0.0,
+          -0.6,
+          0.6
+        ],
+        "settle_err_mm_3": [
+          0.0,
+          0.4,
+          -0.4
+        ],
+        "settle_err_mm_4": [
+          -0.0,
+          -0.4,
+          0.4
+        ],
+        "nav_B2_stand_0": {
+          "base": [
+            1.945,
+            1.631,
+            85.6
+          ],
+          "off_m": 0.12,
+          "ahead": 0.049,
+          "left": -0.11
+        },
+        "nav_B2_stand_1": {
+          "base": [
+            2.035,
+            1.676,
+            80.6
+          ],
+          "off_m": 0.021,
+          "ahead": 0.004,
+          "left": -0.02
+        }
+      },
+      "ticks": 3713,
+      "wall_s": 792.3,
+      "end_base_pose": [
+        2.035,
+        1.677,
+        1.4
+      ],
+      "frame": "/mnt/scratch/xc536_atomic/n059_go2_on_2028/out/data/frames/episode0_end.png",
+      "review_camera": false,
+      "planner_seeds": "default",
+      "runner_steps": 3713
+    }
+  ],
+  "command": "StackBlocksGo2",
+  "collect": {
+    "task": "N059",
+    "robot": "go2_arm",
+    "visual_dr": true,
+    "env": {
+      "MMB_COLLECT": "1",
+      "MMB_TASK_ID": "N059",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "1"
+    },
+    "cameras": {
+      "head": {
+        "link": "Robot_0/Bodies/go2_base",
+        "pos": [
+          0.332051,
+          0.038027,
+          0.093559
+        ],
+        "ori": [
+          169.9473,
+          -88.6452,
+          81.5985
+        ],
+        "focal_length": 1.8231182098388672,
+        "horizontal_aperture": 1.9199999570846558,
+        "vertical_aperture": 1.4407838582992554
+      },
+      "wrist": {
+        "link": "Robot_0/Bodies/piper_link6",
+        "pos": [
+          -0.074987,
+          0.005289,
+          0.045821
+        ],
+        "ori": [
+          179.3135,
+          -20.212,
+          88.9402
+        ],
+        "focal_length": 1.8517500162124634,
+        "horizontal_aperture": 1.9199999570846558,
+        "vertical_aperture": 1.4393036365509033
+      }
+    },
+    "resolution": [
+      640,
+      480
+    ],
+    "camera_hz": 25,
+    "record": {
+      "formats": [
+        "lerobot_v21",
+        "sim_info"
+      ],
+      "clear_buffer_on_failure": true,
+      "lerobot": {
+        "subsample_every": 2
+      }
+    }
+  },
+  "obs_signature": {
+    "policy_obs_keys": [
+      "camera_info",
+      "last_action",
+      "robot_state"
+    ],
+    "n_cameras": 2,
+    "camera0": {
+      "shape": [
+        480,
+        640,
+        4
+      ],
+      "dtype": "uint8"
+    }
+  },
+  "steps": 3713,
+  "episodes_finished": 1,
+  "episodes_success": 1,
+  "elapsed_s": 1110.2
+}
diff --git a/N059/sawyer_umi/dr_off/seed_1029/data/config_resolved.yaml b/N059/sawyer_umi/dr_off/seed_1029/data/config_resolved.yaml
new file mode 100644
index 0000000000000000000000000000000000000000..9b753b6509921db0e07de1bddb5ab4532da7b8b2
--- /dev/null
+++ b/N059/sawyer_umi/dr_off/seed_1029/data/config_resolved.yaml
@@ -0,0 +1,765 @@
+env:
+  sim:
+    seed: 1029
+    device: cpu
+    use_fabric: false
+    decimation: 4
+    dt: 0.005
+    soft_resets: 2
+    scene:
+      num_envs: 1
+      env_spacing: 14
+    render:
+      rendering_mode: performance
+      enable_reflections: false
+      enable_global_illumination: false
+      enable_translucency: false
+      enable_dl_denoiser: false
+  scene:
+    terrain:
+      type: nav_room
+      collision: true
+      hide_top_walls: true
+      usd:
+      - $MAGICSIM_ASSETS/Room/Collected_SimpleRoom
+      annotation: Annotation
+      random: false
+      pos:
+      - 0.0
+      - 0.0
+      - 0.0
+      ori:
+      - 0.0
+      - 0.0
+      - 0.0
+      scale:
+      - 1.0
+      - 1.0
+      - 1.0
+      physics_material:
+        static_friction: 1.0
+        dynamic_friction: 1.0
+        restitution: 0.0
+        friction_combine_mode: multiply
+        restitution_combine_mode: multiply
+    background:
+      intensity:
+      - 1500
+      - 1500
+    objects:
+      table_a:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - -1.5
+          - 2.4
+          - 0.18
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 1.0
+          - 0.6
+          - 0.3
+        table_a_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          visual:
+            color:
+            - 0.55
+            - 0.42
+            - 0.3
+          physics:
+            type: geometry
+            collision: true
+      table_b:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 1.9
+          - 2.4
+          - 0.18
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 1.0
+          - 0.6
+          - 0.3
+        table_b_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          visual:
+            color:
+            - 0.55
+            - 0.42
+            - 0.3
+          physics:
+            type: geometry
+            collision: true
+      partition:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 0.2
+          - 2.55
+          - 0.78
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.08
+          - 2.3
+          - 1.5
+        partition_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          visual:
+            color:
+            - 0.8
+            - 0.8
+            - 0.84
+          physics:
+            type: geometry
+            collision: true
+      demo_x:
+        usd:
+        - $MAGICSIM_ASSETS/StationMemory/sm_block_x_v2
+        random: false
+        num_per_env: 1
+        common:
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+          pos:
+          - - -1.6783278441309961
+            - 2.22
+            - 0.36149999999999993
+          - - -1.6783278441309961
+            - 2.22
+            - 0.36149999999999993
+          ori:
+          - - 0.0
+            - 0.0
+            - 0.43365698191840707
+          - - 0.0
+            - 0.0
+            - 0.43365698191840707
+        demo_x_1:
+          physics:
+            type: rigid
+            collision: true
+            mass: 0.1
+            physics_material:
+              static_friction: 1.2
+              dynamic_friction: 1.2
+              restitution: 0.0
+      demo_y:
+        usd:
+        - $MAGICSIM_ASSETS/StationMemory/sm_block_y_v2
+        random: false
+        num_per_env: 1
+        common:
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+          pos:
+          - - -1.6783278441309961
+            - 2.22
+            - 0.41899999999999993
+          - - -1.6783278441309961
+            - 2.22
+            - 0.41899999999999993
+          ori:
+          - - 0.0
+            - 0.0
+            - 0.43365698191840707
+          - - 0.0
+            - 0.0
+            - 0.43365698191840707
+        demo_y_1:
+          physics:
+            type: rigid
+            collision: true
+            mass: 0.1
+            physics_material:
+              static_friction: 1.2
+              dynamic_friction: 1.2
+              restitution: 0.0
+      block_x:
+        usd:
+        - $MAGICSIM_ASSETS/StationMemory/sm_block_x_v2
+        random: false
+        num_per_env: 1
+        common:
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+          pos:
+          - - 1.6992185307788035
+            - 2.22
+            - 0.36149999999999993
+          - - 1.6992185307788035
+            - 2.22
+            - 0.36149999999999993
+          ori:
+          - - 0.0
+            - 0.0
+            - 0.0
+          - - 0.0
+            - 0.0
+            - 0.0
+        block_x_1:
+          physics:
+            type: rigid
+            collision: true
+            mass: 0.1
+            physics_material:
+              static_friction: 1.2
+              dynamic_friction: 1.2
+              restitution: 0.0
+      block_y:
+        usd:
+        - $MAGICSIM_ASSETS/StationMemory/sm_block_y_v2
+        random: false
+        num_per_env: 1
+        common:
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+          pos:
+          - - 1.9398398367448964
+            - 2.22
+            - 0.3565
+          - - 1.9398398367448964
+            - 2.22
+            - 0.3565
+          ori:
+          - - 0.0
+            - 0.0
+            - 0.0
+          - - 0.0
+            - 0.0
+            - 0.0
+        block_y_1:
+          physics:
+            type: rigid
+            collision: true
+            mass: 0.1
+            physics_material:
+              static_friction: 1.2
+              dynamic_friction: 1.2
+              restitution: 0.0
+  nav:
+    navmesh:
+      min_agent_radius_cm: 70.0
+      max_agent_radius_cm: 70.0
+      validate_path_clearance: true
+      validate_path_window: true
+      validate_path_reroute: true
+      enabled: true
+      visualize: false
+      bake_timeout_s: 180
+      agent_height_cm: 110
+      max_step_height_cm: 20
+      max_floor_slope_deg: 30
+      agent_island_radius_cm: 5
+      auto_exclude_rigid_bodies: true
+      navmesh_offset_z_m: 0
+      verbose: false
+    occupancymap:
+      cell_size: 0.05
+  robot:
+    RidgebackSawyerUmi:
+      name: ridgebacksawyer_umi
+      type: mobilemanip
+      common:
+        pos:
+        - - -3.1
+          - -2.1
+          - 0.06
+        - - -2.9
+          - -1.9
+          - 0.06
+        ori:
+        - - 0.0
+          - 0.0
+          - 19.999999999999996
+        - - 0.0
+          - 0.0
+          - 40.0
+        initial_joint_pos:
+          dummy_base_prismatic_x_joint: 0.0
+          dummy_base_prismatic_y_joint: 0.0
+          dummy_base_revolute_z_joint: 0.0
+          head_pan: -3.0
+          right_j0: 3.0
+          right_j1: -1.0
+          right_j2: 0.0
+          right_j3: 2.0
+          right_j4: 0.0
+          right_j5: 1.4
+          right_j6: 0.0
+          right_gripper_l_finger_joint: 0.0
+          right_gripper_r_finger_joint: 0.0
+      action:
+        base_action: holonomic_action
+        arm_action: ik_pink
+        eef_action: binary
+      planner:
+        dual_mode: true
+        base_joint_names:
+        - dummy_base_prismatic_x_joint
+        - dummy_base_prismatic_y_joint
+        - dummy_base_revolute_z_joint
+        ik:
+          type: ridgebacksawyer_umi
+          enable: true
+          ik_num_instances: 1
+          ik_batch_size: 1
+          ik_num_seeds: 20
+          ik_position_threshold: 0.005
+          ik_rotation_threshold: 0.05
+          microbatch_wait_ms: 400.0
+          relative_to_world_frame: false
+        motiongen:
+          type: ridgebacksawyer_umi
+          enable: true
+          batch_size: 1
+          debug: false
+          motiongen_num_instances: 1
+          microbatch_wait_ms: 400.0
+          mode: position
+          relative_to_world_frame: false
+        body:
+          type: nav
+          dwb_type: dwb_holonomic
+          dwb_holonomic:
+            device: cpu
+            dt: 0.02
+            debug: false
+            num_rollout_steps: 60
+            num_speed_samples: 11
+            num_steer_samples: 11
+            num_vx_samples: 7
+            num_vy_samples: 7
+            num_yaw_samples: 7
+            max_accel: 1.5
+            max_steer_rate: 1.5
+            max_accel_vx: 1.5
+            max_accel_vy: 1.5
+            max_yaw_accel: 1.5
+            w_goal: 6.0
+            w_path: 24.0
+            w_vel: 0.2
+            w_vy: 0.0
+            dilate_radius: 0.62
+            room_size: 12.0
+            occupancy_update_interval: 25
+            scan_height: 0.45
+            scan_min_z: 0.22
+            scan_max_z: 1.75
+            goal_pos_threshold: 0.1
+            goal_yaw_threshold: 0.08
+            kp_goal_yaw: 1.5
+            min_vx: -0.3
+            max_vx: 0.3
+            min_vy: -0.3
+            max_vy: 0.3
+            min_yaw_rate: -0.8
+            max_yaw_rate: 0.8
+            safety_enabled: true
+            safety_deceleration: 0.5
+            safety_reaction_time: 0.5
+            scan_type: 3d
+            own_body_clear: true
+            own_body_radius: 0.25
+            goal_cost_mode: path
+          p_controller:
+            kp_angular_turning_only: 2
+            kd_angular_turning_only: 1
+            kp_linear_x: 4
+            kp_linear_y: 4
+            kp_angular: 2
+            kd_linear_x: 1.5
+            kd_linear_y: 1.5
+            min_vel: -0.4
+            max_vel: 0.8
+            linear_dead_zone: 0.05
+            angular_dead_zone: 0.2
+            nav_heading_target: 0
+        arm:
+          type: default
+        eef:
+          type: default
+      physics:
+        wheel_base: 0.01
+        robot_radius: 0.62
+      reset: default
+  camera:
+    enable_tiled: false
+    colorize_depth: false
+    head:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 2.0
+        horizontal_aperture: 3.6
+        vertical_aperture: 2.7
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/head
+        pos:
+        - 0.2166
+        - 0.0
+        - -0.045
+        ori:
+        - -0.0
+        - 35.0
+        - -90.0
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+    wrist:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.8
+        horizontal_aperture: 3.6
+        vertical_aperture: 2.7
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/right_electric_gripper_base
+        pos:
+        - 0.0598
+        - 0.0
+        - 0.03
+        ori:
+        - 180.0
+        - 0.0
+        - -90.0
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+task:
+  observation: {}
+  reward: {}
+  termination:
+    timeout_steps: 30000
+    success_hold_frames: 1
+  task_version: EXT60-MobileAvatar-v3
+  agent_id: a12
+  primary_category: C6
+  embodiment: sawyer_umi
+  execution_mode: collect_chain
+  level: easy
+  scene_seed: 1029
+  layout:
+    floor_z: 0.03
+    room:
+      x:
+      - -3.7
+      - 3.7
+      'y':
+      - -2.55
+      - 4.05
+    S:
+      x: -3.0
+      'y': -2.0
+      yaw_deg: 30.0
+    boxes:
+      table_a:
+        cx: -1.5
+        cy: 2.4
+        sx: 1.0
+        sy: 0.6
+        height: 0.3
+      table_b:
+        cx: 1.9
+        cy: 2.4
+        sx: 1.0
+        sy: 0.6
+        height: 0.3
+      partition:
+        cx: 0.2
+        cy: 2.55
+        sx: 0.08
+        sy: 2.3
+        height: 1.5
+    stations:
+      A:
+        table: table_a
+        outward:
+        - 0.0
+        - -1.0
+      B:
+        table: table_b
+        outward:
+        - 0.0
+        - -1.0
+  stand:
+    standoff: 0.75
+  stretch: {}
+  stage_retries: 2
+  task_id: N059
+  draw_kind: stack
+  cue_min_fraction: 1.0
+  review_cams:
+  - pos:
+    - -1.0
+    - 1.5
+    - 0.75
+    look_at:
+    - -1.5
+    - 2.22
+    - 0.42
+    focal: 6
+  - pos:
+    - 1.9
+    - 1.45
+    - 0.8
+    look_at:
+    - 1.9
+    - 2.22
+    - 0.4
+    focal: 6
+  - pos:
+    - 3.6
+    - -0.6
+    - 2.6
+    look_at:
+    - 0.2
+    - 2.2
+    - 0.4
+    focal: 5
+  stack:
+    half_row: 0.3
+    min_gap: 0.2
+    max_gap: 0.3
+    half_t1: 0.2
+    yaw_jitter_deg: 10.0
+    legible_size: 0.04
+    xy_tol: 0.02
+    z_tol: 0.012
+    other_tol: 0.06
+    lift_detect: 0.02
+  observe:
+    standoff: 0.85
+  spawn_jitter:
+    x: 0.1
+    'y': 0.1
+    yaw_deg: 10.0
+  items:
+    demo_x:
+      usd: $MAGICSIM_ASSETS/StationMemory/sm_block_x_v2
+      station: A
+      t: -0.178327844130996
+      depth: 0.12
+      z: 0.0315
+      yaw_deg: 0.43365698191840707
+      physics:
+        type: rigid
+        collision: true
+        mass: 0.1
+        physics_material:
+          static_friction: 1.2
+          dynamic_friction: 1.2
+          restitution: 0.0
+    demo_y:
+      usd: $MAGICSIM_ASSETS/StationMemory/sm_block_y_v2
+      station: A
+      t: -0.178327844130996
+      depth: 0.12
+      z: 0.089
+      yaw_deg: 0.43365698191840707
+      physics:
+        type: rigid
+        collision: true
+        mass: 0.1
+        physics_material:
+          static_friction: 1.2
+          dynamic_friction: 1.2
+          restitution: 0.0
+    block_x:
+      usd: $MAGICSIM_ASSETS/StationMemory/sm_block_x_v2
+      station: B
+      t: -0.20078146922119638
+      depth: 0.12
+      z: 0.0315
+      yaw_deg: 0
+      physics:
+        type: rigid
+        collision: true
+        mass: 0.1
+        physics_material:
+          static_friction: 1.2
+          dynamic_friction: 1.2
+          restitution: 0.0
+    block_y:
+      usd: $MAGICSIM_ASSETS/StationMemory/sm_block_y_v2
+      station: B
+      t: 0.039839836744896384
+      depth: 0.12
+      z: 0.0265
+      yaw_deg: 0
+      physics:
+        type: rigid
+        collision: true
+        mass: 0.1
+        physics_material:
+          static_friction: 1.2
+          dynamic_friction: 1.2
+          restitution: 0.0
+  draw:
+    bottom: X
+    top: 'Y'
+    t1: -0.178327844130996
+    yaw1_deg: 0.43365698191840707
+    start:
+      X: -0.20078146922119638
+      'Y': 0.039839836744896384
+collect:
+  auto_collect:
+    task_type: station
+    max_trajectories: 1
+  record:
+    output_dir: /mnt/scratch/xc536_atomic/n059_saw_off_1029/out/data/record
+    formats:
+    - lerobot_v21
+    - sim_info
+    clear_buffer_on_failure: true
+    lerobot:
+      subsample_every: 2
+  global_planner:
+    NavTo:
+      carry_arm: true
+      settle_speed: 0.03
+      settle_yaw_rate: 0.05
+      use_navmesh: true
+      use_absolute: true
+      translation_threshold: 0.12
+      rotation_threshold: 0.12
+      num_path_segments: 30
+      start_forward_offset: 0.0
+      visualize_path: false
+    MoveL:
+      translation_threshold: 0.003
+      rotation_threshold: 0.2
+      motiongen_distance_threshold: 0.2
+      timeout_steps: 50
+      debug: false
+    MobileMoveL:
+      translation_threshold: 0.006
+      rotation_threshold: 0.2
+      motiongen_distance_threshold: 0
+      timeout_steps: 3000
+      reactive: false
+      base_pos_threshold: 0.15
+      base_rot_threshold: 0.1
+      eef_pos_threshold: 0.05
+      eef_rot_threshold: 0.3
+      waypoint_max_steps: 8
+      stall_release_ticks: 50
+      stall_release_factor: 10.0
+      debug: false
+      interp_steps: 80
+      min_steps_before_done: 10
+    ParallelGripper:
+      gripper_threshold: 0.001
+  atomic_skill:
+    NavToPose:
+      robot_id: 0
+      position_threshold: 0.08
+      angle_threshold: 0.06
+      show_marker: false
+    Move:
+      arm_planner: MobileMoveL
+      hand_planner: ParallelGripper
+      hold_steps: 20
+      obstacle_avoid_paths:
+      - dynamic
+      obstacle_ignore_paths: []
+  command:
+    StackBlocksSawyer:
+      robot_id: 0
+      hand_id: 0
+      init_limit: 90
+      max_attempt: 2
+      read_ticks: 26
+      tip_margin: 0.004
+      stage_retries: 2
+      observe_timeout: 900
+      place_hover: 0.04
+      release_clearance: 0.006
+      retreat_up: 0.12
+env_string: StackOrderEnvSawyer-V0
+check:
+  command: StackBlocksSawyer
+levels:
+  easy:
+    task:
+      spawn_jitter:
+        x: 0.1
+        'y': 0.1
+        yaw_deg: 10.0
+  medium:
+    task:
+      spawn_jitter:
+        x: 0.2
+        'y': 0.2
+        yaw_deg: 15.0
+  hard:
+    task:
+      spawn_jitter:
+        x: 0.3
+        'y': 0.3
+        yaw_deg: 20.0
+visual_dr:
+  keep:
+  - demo_x
+  - demo_y
+  - block_x
+  - block_y
diff --git a/N059/sawyer_umi/dr_off/seed_1029/data/frames/episode0_end.png b/N059/sawyer_umi/dr_off/seed_1029/data/frames/episode0_end.png
new file mode 100644
index 0000000000000000000000000000000000000000..839f63b2e15e379583542ec3edbe626494120009
--- /dev/null
+++ b/N059/sawyer_umi/dr_off/seed_1029/data/frames/episode0_end.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:619bbb15d7ef18033c6088d446bef3551fdd2ca675cf199ad05a5af3cf220111
+size 350875
diff --git a/N059/sawyer_umi/dr_off/seed_1029/data/record/check.json b/N059/sawyer_umi/dr_off/seed_1029/data/record/check.json
new file mode 100644
index 0000000000000000000000000000000000000000..57e98e317c2d8c58faf4daa3259e8a5d23d7ac87
--- /dev/null
+++ b/N059/sawyer_umi/dr_off/seed_1029/data/record/check.json
@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', '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: 'Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.'; expected 'Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1961 rows vs ceil(3921/2) = 1961"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 91..4011, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "18.60 MB, 1961 frames at 25 fps, mean luma 114..151, std 18, new picture 1960x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1961 vs 1961"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "36.89 MB, 1961 frames at 25 fps, mean luma 87..128, std 26, new picture 1960x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1961 vs 1961"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stackblockssawyer/000/sim_info"
+  }
+ }
+}
\ No newline at end of file
diff --git a/N059/sawyer_umi/dr_off/seed_1029/data/record/check.txt b/N059/sawyer_umi/dr_off/seed_1029/data/record/check.txt
new file mode 100644
index 0000000000000000000000000000000000000000..92ff3ffde44722fccc8f0a1e683c9643da8b5ffb
--- /dev/null
+++ b/N059/sawyer_umi/dr_off/seed_1029/data/record/check.txt
@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n059_saw_off_1029/out/data/record  task=N059  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n059_saw_off_1029/out/data/record/stackblockssawyer/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1961  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: 1961 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: 'Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.'; expected 'Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.'
+rows 1961 at dataset fps 25 = 78.44 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1961 rows vs ceil(3921/2) = 1961
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 91..4011, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 18.60 MB, 1961 frames at 25 fps, mean luma 114..151, std 18, new picture 1960x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1961 vs 1961
+[PASS] video observation.images.wrist decodes, 640x480, not black: 36.89 MB, 1961 frames at 25 fps, mean luma 87..128, std 26, new picture 1960x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1961 vs 1961
+parquet size 1.87 MB
+[PASS] sim_info present: stackblockssawyer/000/sim_info
+dataset size 57.50 MB; whole cell dir 58.6 MB
+RESULT: ALL PASS
diff --git a/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/completed/0.json b/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/completed/0.json
new file mode 100644
index 0000000000000000000000000000000000000000..b077dfc7839afd58f88c677f2ce511f9fa698b10
--- /dev/null
+++ b/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/completed/0.json
@@ -0,0 +1 @@
+{"run_id": "stackblockssawyer/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null}
\ No newline at end of file
diff --git a/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/lerobot_v21/data/chunk-000/episode_000000.parquet b/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/lerobot_v21/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..54ca371d1b2a56b2d374a3a91f784662315d02c0
--- /dev/null
+++ b/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/lerobot_v21/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e5b6586b347491dc659941abc6d046b5bc870a907bd37bfd4a8a83e23867525
+size 1874482
diff --git a/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/lerobot_v21/meta/episodes.jsonl b/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/lerobot_v21/meta/episodes.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..5b0cef736c8cdfc755ad9176065322ed1980a00e
--- /dev/null
+++ b/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/lerobot_v21/meta/episodes.jsonl
@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order."], "length": 1961, "magicsim/control_steps": 3921, "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 white partition. There are a large gray table a, a large gray table b, a large white partition, a small demo x, a small demo y, a small block x and a small block y. The gray table a is behind the demo x. The gray table b is to the left of the block y. The white partition is to the left of the block x. The demo x is behind the demo y. The demo y is in front of the demo x. The block x is to the left of the block y. The block y is to the right of the block x. The scene is viewed from right, at table height."}
diff --git a/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/lerobot_v21/meta/episodes_stats.jsonl b/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/lerobot_v21/meta/episodes_stats.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..2b1c7cb154766480c2f5957cd2c7bca1a38cffe9
--- /dev/null
+++ b/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/lerobot_v21/meta/episodes_stats.jsonl
@@ -0,0 +1 @@
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diff --git a/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/lerobot_v21/meta/extra/episode_000000.json b/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/lerobot_v21/meta/extra/episode_000000.json
new file mode 100644
index 0000000000000000000000000000000000000000..a25662f3db67be944bbe4371295d1101f7f1e208
--- /dev/null
+++ b/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/lerobot_v21/meta/extra/episode_000000.json
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+      1.4758677905444184,
+      -5.43134663477318
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0,
+       1.0000000000000002
+      ],
+      "center": [
+       0.0,
+       -5.551115123125783e-17,
+       1.1102230246251565e-16
+      ]
+     }
+    },
+    {
+     "id": "demo_x_1",
+     "cat_name": "demo_x",
+     "inst_id": 1,
+     "noun": "demo x",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "rigid",
+     "pos": [
+      0.299999989569187,
+      2.422548620641351,
+      -3.7758071866450584
+     ],
+     "bbox": {
+      "extent": [
+       0.032484359283244356,
+       0.03248432287924323,
+       0.06000009098970027
+      ],
+      "center": [
+       1.1449174941446927e-16,
+       2.185751579730777e-16,
+       -5.551115123125783e-17
+      ]
+     }
+    },
+    {
+     "id": "demo_y_1",
+     "cat_name": "demo_y",
+     "inst_id": 1,
+     "noun": "demo y",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "rigid",
+     "pos": [
+      0.35500002652406676,
+      2.4225483300938437,
+      -3.775806790202533
+     ],
+     "bbox": {
+      "extent": [
+       0.038574569973110984,
+       0.03857487780764056,
+       0.05000053437124341
+      ],
+      "center": [
+       -1.1275702593849246e-16,
+       2.3071822230491534e-16,
+       5.551115123125783e-17
+      ]
+     }
+    },
+    {
+     "id": "block_x_1",
+     "cat_name": "block_x",
+     "inst_id": 1,
+     "noun": "block x",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "rigid",
+     "pos": [
+      0.3000000193715098,
+      0.26387657980243606,
+      -6.373489634359678
+     ],
+     "bbox": {
+      "extent": [
+       0.032000241319563125,
+       0.032000081444934464,
+       0.060000136427963535
+      ],
+      "center": [
+       -1.5092094240998222e-16,
+       2.203098814490545e-16,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "block_y_1",
+     "cat_name": "block_y",
+     "inst_id": 1,
+     "noun": "block y",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "rigid",
+     "pos": [
+      0.2950000241398814,
+      0.1100896201784547,
+      -6.558552312143176
+     ],
+     "bbox": {
+      "extent": [
+       0.03800012372941791,
+       0.0380003455019222,
+       0.05000027545854463
+      ],
+      "center": [
+       1.9081958235744878e-17,
+       1.1449174941446927e-16,
+       2.7755575615628914e-17
+      ]
+     }
+    }
+   ],
+   "relations": [
+    {
+     "subject": "table_a_1",
+     "relation": "behind",
+     "object": "demo_x_1"
+    },
+    {
+     "subject": "table_b_1",
+     "relation": "left_of",
+     "object": "block_y_1"
+    },
+    {
+     "subject": "partition_1",
+     "relation": "left_of",
+     "object": "block_x_1"
+    },
+    {
+     "subject": "demo_x_1",
+     "relation": "behind",
+     "object": "demo_y_1"
+    },
+    {
+     "subject": "demo_y_1",
+     "relation": "in_front_of",
+     "object": "demo_x_1"
+    },
+    {
+     "subject": "block_x_1",
+     "relation": "left_of",
+     "object": "block_y_1"
+    },
+    {
+     "subject": "block_y_1",
+     "relation": "right_of",
+     "object": "block_x_1"
+    }
+   ],
+   "cameras": [
+    {
+     "name": "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_robot": [
+      -0.10499999672174427,
+      -0.49595530284271816,
+      -3.8143465579600475
+     ],
+     "viewpoint": "right, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        -8.039232568535226e-08,
+        -0.9999999999999964,
+        2.5347603738179458e-08
+       ],
+       [
+        0.8191520331270514,
+        -8.039232568535226e-08,
+        -0.5735764522919431
+       ],
+       [
+        0.5735764522919431,
+        -2.5347603738179458e-08,
+        0.819152033127055
+       ]
+      ],
+      "t": [
+       1.855362002599171e-08,
+       -0.2032392724571752,
+       -0.08737481710326404
+      ]
+     }
+    },
+    {
+     "name": "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_robot": [
+      -0.029999995604157215,
+      -0.39574059735506384,
+      -3.693751145994195
+     ],
+     "viewpoint": "right, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        0.0,
+        1.0,
+        -1.4782795217992896e-16
+       ],
+       [
+        1.0,
+        0.0,
+        2.5363269588459423e-17
+       ],
+       [
+        2.5363269588459423e-17,
+        -1.4782795217992896e-16,
+        -1.0
+       ]
+      ],
+      "t": [
+       4.4348384662715026e-18,
+       -0.05979999899864197,
+       0.029999999329447746
+      ]
+     }
+    }
+   ],
+   "robots": [
+    {
+     "name": "RidgebackSawyerUmi",
+     "model": "ridgebacksawyer_umi",
+     "type": "mobilemanip",
+     "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
+       -3.034034291984996,
+       -2.0567136259321,
+       0.06
+      ],
+      "ori": [
+       0.9406091570854187,
+       0.0,
+       0.0,
+       0.3394913375377655
+      ]
+     },
+     "facing_yaw_deg": 39.691772564322484,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1500.0,
+    "ambient": "bright"
+   },
+   "effects": [],
+   "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the white partition. There are a large gray table a, a large gray table b, a large white partition, a small demo x, a small demo y, a small block x and a small block y. The gray table a is behind the demo x. The gray table b is to the left of the block y. The white partition is to the left of the block x. The demo x is behind the demo y. The demo y is in front of the demo x. The block x is to the left of the block y. The block y is to the right of the block x. The scene is viewed from right, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n            [partition]\n\n\n\n[demo y]\n[demo x]              [block y]\n\n[table a]             [table b]\n                        [robot]"
+  },
+  "task": {
+   "task_type": "StackBlocksSawyer",
+   "instruction": "Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Stackblockssawyer the 1.5707963267948966.",
+   "task_id": "N059",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {}
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": false,
+ "truncated": false
+}
\ No newline at end of file
diff --git a/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/lerobot_v21/meta/info.json b/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/lerobot_v21/meta/info.json
new file mode 100644
index 0000000000000000000000000000000000000000..93f49bf3e3fdac54b3d70d5660279eb3af8e906f
--- /dev/null
+++ b/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/lerobot_v21/meta/info.json
@@ -0,0 +1,304 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "RidgebackSawyerUmiCfg",
+    "total_episodes": 1,
+    "total_frames": 1961,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                11
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "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": {
+            "dtype": "bool",
+            "shape": [
+                11
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "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",
+            "shape": [
+                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"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                57
+            ],
+            "names": [
+                "cue_displayed.stack.0",
+                "object_pose.block_x.0",
+                "object_pose.block_x.1",
+                "object_pose.block_x.2",
+                "object_pose.block_x.3",
+                "object_pose.block_x.4",
+                "object_pose.block_x.5",
+                "object_pose.block_x.6",
+                "object_pose.block_y.0",
+                "object_pose.block_y.1",
+                "object_pose.block_y.2",
+                "object_pose.block_y.3",
+                "object_pose.block_y.4",
+                "object_pose.block_y.5",
+                "object_pose.block_y.6",
+                "object_pose.demo_x.0",
+                "object_pose.demo_x.1",
+                "object_pose.demo_x.2",
+                "object_pose.demo_x.3",
+                "object_pose.demo_x.4",
+                "object_pose.demo_x.5",
+                "object_pose.demo_x.6",
+                "object_pose.demo_y.0",
+                "object_pose.demo_y.1",
+                "object_pose.demo_y.2",
+                "object_pose.demo_y.3",
+                "object_pose.demo_y.4",
+                "object_pose.demo_y.5",
+                "object_pose.demo_y.6",
+                "object_pose.partition.0",
+                "object_pose.partition.1",
+                "object_pose.partition.2",
+                "object_pose.partition.3",
+                "object_pose.partition.4",
+                "object_pose.partition.5",
+                "object_pose.partition.6",
+                "object_pose.table_a.0",
+                "object_pose.table_a.1",
+                "object_pose.table_a.2",
+                "object_pose.table_a.3",
+                "object_pose.table_a.4",
+                "object_pose.table_a.5",
+                "object_pose.table_a.6",
+                "object_pose.table_b.0",
+                "object_pose.table_b.1",
+                "object_pose.table_b.2",
+                "object_pose.table_b.3",
+                "object_pose.table_b.4",
+                "object_pose.table_b.5",
+                "object_pose.table_b.6",
+                "object_visible.block_x.0",
+                "object_visible.block_y.0",
+                "object_visible.demo_x.0",
+                "object_visible.demo_y.0",
+                "object_visible.partition.0",
+                "object_visible.table_a.0",
+                "object_visible.table_b.0"
+            ]
+        },
+        "action.command": {
+            "dtype": "float32",
+            "shape": [
+                496
+            ],
+            "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
+            }
+        }
+    }
+}
\ No newline at end of file
diff --git a/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/lerobot_v21/meta/magicsim_manifest.json b/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/lerobot_v21/meta/magicsim_manifest.json
new file mode 100644
index 0000000000000000000000000000000000000000..2203dddc0a660d4d419533c8088f570b3cfa8389
--- /dev/null
+++ b/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/lerobot_v21/meta/magicsim_manifest.json
@@ -0,0 +1,264 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 00:17:29"
+    },
+    "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",
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+                "names_source": "joint_names"
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+            {
+                "name": "RidgebackSawyerUmi.gripper_pos",
+                "start": 13,
+                "end": 15,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 13,
+        "segments": [
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+                "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",
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+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
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+    "lerobot": {
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+            "observation.images.head",
+            "observation.images.wrist"
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+        "columns": [
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+            "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": "stackblockssawyer/000",
+        "task_type": "StackBlocksSawyer"
+    }
+}
\ No newline at end of file
diff --git a/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/lerobot_v21/meta/stats.json b/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/lerobot_v21/meta/stats.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e4d0db75af4220550a948c8ef6275d7b20116e9
--- /dev/null
+++ b/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/lerobot_v21/meta/stats.json
@@ -0,0 +1,2893 @@
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+}
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diff --git a/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4 b/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4
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diff --git a/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/run_meta.json b/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/run_meta.json
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--- /dev/null
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+                                "kd_angular_turning_only": 1,
+                                "kp_linear_x": 4,
+                                "kp_linear_y": 4,
+                                "kp_angular": 2,
+                                "kd_linear_x": 1.5,
+                                "kd_linear_y": 1.5,
+                                "min_vel": -0.4,
+                                "max_vel": 0.8,
+                                "linear_dead_zone": 0.05,
+                                "angular_dead_zone": 0.2,
+                                "nav_heading_target": 0
+                            }
+                        },
+                        "arm": {
+                            "type": "default"
+                        },
+                        "eef": {
+                            "type": "default"
+                        }
+                    },
+                    "physics": {
+                        "wheel_base": 0.01,
+                        "robot_radius": 0.62
+                    },
+                    "reset": "default"
+                }
+            },
+            "camera": {
+                "enable_tiled": false,
+                "colorize_depth": false,
+                "head": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 2.0,
+                        "horizontal_aperture": 3.6,
+                        "vertical_aperture": 2.7,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/head",
+                        "pos": [
+                            0.2166,
+                            0.0,
+                            -0.045
+                        ],
+                        "ori": [
+                            -0.0,
+                            35.0,
+                            -90.0
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                },
+                "wrist": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 1.8,
+                        "horizontal_aperture": 3.6,
+                        "vertical_aperture": 2.7,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/right_electric_gripper_base",
+                        "pos": [
+                            0.0598,
+                            0.0,
+                            0.03
+                        ],
+                        "ori": [
+                            180.0,
+                            0.0,
+                            -90.0
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                }
+            }
+        },
+        "task": {
+            "observation": {},
+            "reward": {},
+            "termination": {
+                "timeout_steps": 30000,
+                "success_hold_frames": 1
+            },
+            "task_version": "EXT60-MobileAvatar-v3",
+            "agent_id": "a12",
+            "primary_category": "C6",
+            "embodiment": "sawyer_umi",
+            "execution_mode": "collect_chain",
+            "level": "easy",
+            "scene_seed": 1029,
+            "layout": {
+                "floor_z": 0.03,
+                "room": {
+                    "x": [
+                        -3.7,
+                        3.7
+                    ],
+                    "y": [
+                        -2.55,
+                        4.05
+                    ]
+                },
+                "S": {
+                    "x": -3.0,
+                    "y": -2.0,
+                    "yaw_deg": 30.0
+                },
+                "boxes": {
+                    "table_a": {
+                        "cx": -1.5,
+                        "cy": 2.4,
+                        "sx": 1.0,
+                        "sy": 0.6,
+                        "height": 0.3
+                    },
+                    "table_b": {
+                        "cx": 1.9,
+                        "cy": 2.4,
+                        "sx": 1.0,
+                        "sy": 0.6,
+                        "height": 0.3
+                    },
+                    "partition": {
+                        "cx": 0.2,
+                        "cy": 2.55,
+                        "sx": 0.08,
+                        "sy": 2.3,
+                        "height": 1.5
+                    }
+                },
+                "stations": {
+                    "A": {
+                        "table": "table_a",
+                        "outward": [
+                            0.0,
+                            -1.0
+                        ]
+                    },
+                    "B": {
+                        "table": "table_b",
+                        "outward": [
+                            0.0,
+                            -1.0
+                        ]
+                    }
+                }
+            },
+            "stand": {
+                "standoff": 0.75
+            },
+            "stretch": {},
+            "stage_retries": 2,
+            "task_id": "N059",
+            "draw_kind": "stack",
+            "cue_min_fraction": 1.0,
+            "review_cams": [
+                {
+                    "pos": [
+                        -1.0,
+                        1.5,
+                        0.75
+                    ],
+                    "look_at": [
+                        -1.5,
+                        2.22,
+                        0.42
+                    ],
+                    "focal": 6
+                },
+                {
+                    "pos": [
+                        1.9,
+                        1.45,
+                        0.8
+                    ],
+                    "look_at": [
+                        1.9,
+                        2.22,
+                        0.4
+                    ],
+                    "focal": 6
+                },
+                {
+                    "pos": [
+                        3.6,
+                        -0.6,
+                        2.6
+                    ],
+                    "look_at": [
+                        0.2,
+                        2.2,
+                        0.4
+                    ],
+                    "focal": 5
+                }
+            ],
+            "stack": {
+                "half_row": 0.3,
+                "min_gap": 0.2,
+                "max_gap": 0.3,
+                "half_t1": 0.2,
+                "yaw_jitter_deg": 10.0,
+                "legible_size": 0.04,
+                "xy_tol": 0.02,
+                "z_tol": 0.012,
+                "other_tol": 0.06,
+                "lift_detect": 0.02
+            },
+            "observe": {
+                "standoff": 0.85
+            },
+            "spawn_jitter": {
+                "x": 0.1,
+                "y": 0.1,
+                "yaw_deg": 10.0
+            },
+            "items": {
+                "demo_x": {
+                    "usd": "$MAGICSIM_ASSETS/StationMemory/sm_block_x_v2",
+                    "station": "A",
+                    "t": -0.178327844130996,
+                    "depth": 0.12,
+                    "z": 0.0315,
+                    "yaw_deg": 0.43365698191840707,
+                    "physics": {
+                        "type": "rigid",
+                        "collision": true,
+                        "mass": 0.1,
+                        "physics_material": {
+                            "static_friction": 1.2,
+                            "dynamic_friction": 1.2,
+                            "restitution": 0.0
+                        }
+                    }
+                },
+                "demo_y": {
+                    "usd": "$MAGICSIM_ASSETS/StationMemory/sm_block_y_v2",
+                    "station": "A",
+                    "t": -0.178327844130996,
+                    "depth": 0.12,
+                    "z": 0.089,
+                    "yaw_deg": 0.43365698191840707,
+                    "physics": {
+                        "type": "rigid",
+                        "collision": true,
+                        "mass": 0.1,
+                        "physics_material": {
+                            "static_friction": 1.2,
+                            "dynamic_friction": 1.2,
+                            "restitution": 0.0
+                        }
+                    }
+                },
+                "block_x": {
+                    "usd": "$MAGICSIM_ASSETS/StationMemory/sm_block_x_v2",
+                    "station": "B",
+                    "t": -0.20078146922119638,
+                    "depth": 0.12,
+                    "z": 0.0315,
+                    "yaw_deg": 0,
+                    "physics": {
+                        "type": "rigid",
+                        "collision": true,
+                        "mass": 0.1,
+                        "physics_material": {
+                            "static_friction": 1.2,
+                            "dynamic_friction": 1.2,
+                            "restitution": 0.0
+                        }
+                    }
+                },
+                "block_y": {
+                    "usd": "$MAGICSIM_ASSETS/StationMemory/sm_block_y_v2",
+                    "station": "B",
+                    "t": 0.039839836744896384,
+                    "depth": 0.12,
+                    "z": 0.0265,
+                    "yaw_deg": 0,
+                    "physics": {
+                        "type": "rigid",
+                        "collision": true,
+                        "mass": 0.1,
+                        "physics_material": {
+                            "static_friction": 1.2,
+                            "dynamic_friction": 1.2,
+                            "restitution": 0.0
+                        }
+                    }
+                }
+            },
+            "draw": {
+                "bottom": "X",
+                "top": "Y",
+                "t1": -0.178327844130996,
+                "yaw1_deg": 0.43365698191840707,
+                "start": {
+                    "X": -0.20078146922119638,
+                    "Y": 0.039839836744896384
+                }
+            },
+            "command": {
+                "StackBlocksSawyer": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "init_limit": 90,
+                    "max_attempt": 2,
+                    "read_ticks": 26,
+                    "tip_margin": 0.004,
+                    "stage_retries": 2,
+                    "observe_timeout": 900,
+                    "place_hover": 0.04,
+                    "release_clearance": 0.006,
+                    "retreat_up": 0.12
+                }
+            }
+        },
+        "collect": {
+            "auto_collect": {
+                "task_type": "station",
+                "max_trajectories": 1
+            },
+            "record": {
+                "output_dir": "/mnt/scratch/xc536_atomic/n059_saw_off_1029/out/data/record",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            },
+            "global_planner": {
+                "NavTo": {
+                    "carry_arm": true,
+                    "settle_speed": 0.03,
+                    "settle_yaw_rate": 0.05,
+                    "use_navmesh": true,
+                    "use_absolute": true,
+                    "translation_threshold": 0.12,
+                    "rotation_threshold": 0.12,
+                    "num_path_segments": 30,
+                    "start_forward_offset": 0.0,
+                    "visualize_path": false
+                },
+                "MoveL": {
+                    "translation_threshold": 0.003,
+                    "rotation_threshold": 0.2,
+                    "motiongen_distance_threshold": 0.2,
+                    "timeout_steps": 50,
+                    "debug": false
+                },
+                "MobileMoveL": {
+                    "translation_threshold": 0.006,
+                    "rotation_threshold": 0.2,
+                    "motiongen_distance_threshold": 0,
+                    "timeout_steps": 3000,
+                    "reactive": false,
+                    "base_pos_threshold": 0.15,
+                    "base_rot_threshold": 0.1,
+                    "eef_pos_threshold": 0.05,
+                    "eef_rot_threshold": 0.3,
+                    "waypoint_max_steps": 8,
+                    "stall_release_ticks": 50,
+                    "stall_release_factor": 10.0,
+                    "debug": false,
+                    "interp_steps": 80,
+                    "min_steps_before_done": 10
+                },
+                "ParallelGripper": {
+                    "gripper_threshold": 0.001
+                }
+            },
+            "atomic_skill": {
+                "NavToPose": {
+                    "robot_id": 0,
+                    "position_threshold": 0.08,
+                    "angle_threshold": 0.06,
+                    "show_marker": false
+                },
+                "Move": {
+                    "arm_planner": "MobileMoveL",
+                    "hand_planner": "ParallelGripper",
+                    "hold_steps": 20,
+                    "obstacle_avoid_paths": [
+                        "dynamic"
+                    ],
+                    "obstacle_ignore_paths": []
+                }
+            },
+            "command": {
+                "StackBlocksSawyer": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "init_limit": 90,
+                    "max_attempt": 2,
+                    "read_ticks": 26,
+                    "tip_margin": 0.004,
+                    "stage_retries": 2,
+                    "observe_timeout": 900,
+                    "place_hover": 0.04,
+                    "release_clearance": 0.006,
+                    "retreat_up": 0.12
+                }
+            }
+        },
+        "env_string": "StackOrderEnvSawyer-V0",
+        "check": {
+            "command": "StackBlocksSawyer"
+        },
+        "levels": {
+            "easy": {
+                "task": {
+                    "spawn_jitter": {
+                        "x": 0.1,
+                        "y": 0.1,
+                        "yaw_deg": 10.0
+                    }
+                }
+            },
+            "medium": {
+                "task": {
+                    "spawn_jitter": {
+                        "x": 0.2,
+                        "y": 0.2,
+                        "yaw_deg": 15.0
+                    }
+                }
+            },
+            "hard": {
+                "task": {
+                    "spawn_jitter": {
+                        "x": 0.3,
+                        "y": 0.3,
+                        "yaw_deg": 20.0
+                    }
+                }
+            }
+        },
+        "visual_dr": {
+            "keep": [
+                "demo_x",
+                "demo_y",
+                "block_x",
+                "block_y"
+            ]
+        }
+    },
+    "git_sha": null,
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}
\ No newline at end of file
diff --git a/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/sim_info/0/actions.npz b/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/sim_info/0/actions.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d2b4240efd6ea7d38910c2d2ab95c4a679914162
--- /dev/null
+++ b/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/sim_info/0/actions.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:122008245b2def6cc0808b48b7550bb07d3c55d4bba92c23d6a0eed3090c7e75
+size 387016
diff --git a/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/sim_info/0/device_commands.jsonl b/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/sim_info/0/device_commands.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/sim_info/0/device_events.jsonl b/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/sim_info/0/device_events.jsonl
new file mode 100644
index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391
diff --git a/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/sim_info/0/scene_snapshot.json b/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/sim_info/0/scene_snapshot.json
new file mode 100644
index 0000000000000000000000000000000000000000..224fa6397d13a5c1a99e984679a305b66ee19d29
--- /dev/null
+++ b/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/sim_info/0/scene_snapshot.json
@@ -0,0 +1,488 @@
+{
+    "trajectory_id": 0,
+    "env_id": 0,
+    "run_id": "stackblockssawyer/000",
+    "task_type": "StackBlocksSawyer",
+    "success": true,
+    "timing": {
+        "fps": 50.0,
+        "sim_dt": 0.005,
+        "decimation": 4
+    },
+    "restore_interface": {
+        "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
+    },
+    "snapshot": {
+        "env_id": 0,
+        "scene": {
+            "objects": [
+                {
+                    "table_a": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    -1.5,
+                                    2.4,
+                                    0.18
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    1.0,
+                                    0.6,
+                                    0.3
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.55,
+                                        0.42,
+                                        0.3
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1.0,
+                                        1.0,
+                                        1.0
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "table_b": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    1.9,
+                                    2.4,
+                                    0.18
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    1.0,
+                                    0.6,
+                                    0.3
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.55,
+                                        0.42,
+                                        0.3
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1.0,
+                                        1.0,
+                                        1.0
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "partition": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    0.2,
+                                    2.55,
+                                    0.78
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.08,
+                                    2.3,
+                                    1.5
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.8,
+                                        0.8,
+                                        0.84
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1.0,
+                                        1.0,
+                                        1.0
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "demo_x": [
+                        {
+                            "asset": "/mnt/scratch/xc536_atomic_local/repo_b3820fd82/Assets/StationMemory/sm_block_x_v2/Object.usd",
+                            "pose": {
+                                "pos": [
+                                    -1.6783277988433838,
+                                    2.2200000286102295,
+                                    0.36000004410743713
+                                ],
+                                "ori": [
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+                                    -1.7255168813790078e-06,
+                                    1.4067802567296894e-06,
+                                    0.0037806620821356773
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
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+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "rigid",
+                                    "collision": true,
+                                    "mass": 0.1,
+                                    "physics_material": {
+                                        "static_friction": 1.2,
+                                        "dynamic_friction": 1.2,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "linear_velocity": [
+                                    -7.494397141272202e-05,
+                                    -0.0004342569154687226,
+                                    -0.00016750386566855013
+                                ],
+                                "angular_velocity": [
+                                    0.009811418130993843,
+                                    -0.0017905583372339606,
+                                    0.005154203157871962
+                                ]
+                            }
+                        }
+                    ],
+                    "demo_y": [
+                        {
+                            "asset": "/mnt/scratch/xc536_atomic_local/repo_b3820fd82/Assets/StationMemory/sm_block_y_v2/Object.usd",
+                            "pose": {
+                                "pos": [
+                                    -1.6783277988433838,
+                                    2.2200005054473877,
+                                    0.4150000810623169
+                                ],
+                                "ori": [
+                                    0.999992847442627,
+                                    -2.422245643174392e-06,
+                                    7.363675535998482e-07,
+                                    0.003777590114623308
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "rigid",
+                                    "collision": true,
+                                    "mass": 0.1,
+                                    "physics_material": {
+                                        "static_friction": 1.2,
+                                        "dynamic_friction": 1.2,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "linear_velocity": [
+                                    0.00014640632434748113,
+                                    -0.0021136056166142225,
+                                    -0.000196540480828844
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diff --git a/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/sim_info/0/sim_states.npz b/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/sim_info/0/sim_states.npz
new file mode 100644
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--- /dev/null
+++ b/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/sim_info/0/sim_states.npz
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+size 652079
diff --git a/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/sim_info/magicsim_manifest.json b/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/sim_info/magicsim_manifest.json
new file mode 100644
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--- /dev/null
+++ b/N059/sawyer_umi/dr_off/seed_1029/data/record/stackblockssawyer/000/sim_info/magicsim_manifest.json
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+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 00:17:51"
+    },
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+                "cfg": "RidgebackSawyerUmiCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
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+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
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diff --git a/N059/sawyer_umi/dr_off/seed_1029/report.json b/N059/sawyer_umi/dr_off/seed_1029/report.json
new file mode 100644
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--- /dev/null
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