add 2 staged episodes

N011/go2_arm/dr_off/seed_1060/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": "6084 rows vs ceil(12168/2) = 6084"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 241..12407, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "137.12 MB, 6084 frames at 25 fps, mean luma 101..137, std 9, new picture 6083x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "6084 vs 6084"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "132.63 MB, 6084 frames at 25 fps, mean luma 96..147, std 35, new picture 6083x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "6084 vs 6084"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "ladle/000/sim_info"
+  }
+ }
+}

N011/go2_arm/dr_off/seed_1060/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n011_go2_off_1060/out  task=N011  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n011_go2_off_1060/out/ladle/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 6084  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: 6084 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 6084 at dataset fps 25 = 243.36 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 6084 rows vs ceil(12168/2) = 6084
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 241..12407, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 137.12 MB, 6084 frames at 25 fps, mean luma 101..137, std 9, new picture 6083x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 6084 vs 6084
+[PASS] video observation.images.wrist decodes, 640x480, not black: 132.63 MB, 6084 frames at 25 fps, mean luma 96..147, std 35, new picture 6083x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 6084 vs 6084
+parquet size 601.43 MB
+[PASS] sim_info present: ladle/000/sim_info
+dataset size 877.47 MB; whole cell dir 1862.8 MB
+RESULT: ALL PASS

N011/go2_arm/dr_off/seed_1060/config.yaml

@@ -0,0 +1,758 @@
+env_string: LadleEnv-V0
+env:
+  sim:
+    device: cpu
+    use_fabric: false
+    decimation: 4
+    dt: 0.005
+    seed: 1060
+    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:
+        - - -2.750356736112643
+          - -1.9972472309471263
+          - 0.45
+        - - -2.750356736112643
+          - -1.9972472309471263
+          - 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:
+          - 942.1671231304973
+          - 942.1671231304973
+    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: 0.7547412144037827
+              dynamic_friction: 0.566055910802837
+              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: 0.728127452607548
+              dynamic_friction: 0.546095589455661
+              restitution: 0.0
+      ladle:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Ladle/Object.usda
+        num_per_env: 1
+        random: false
+        ladle_1:
+          pos:
+          - -1.3520807948337823
+          - 3.1102511317998482
+          - 0.7410000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 88.39359017934886
+          physics:
+            type: rigid
+            mass: 0.048727585530757275
+            physics_material:
+              static_friction: 1.7432290323576085
+              dynamic_friction: 1.5253254033129071
+              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: 0.8548744341559946
+              dynamic_friction: 0.6411558256169959
+              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: 0.7535509788921226
+              dynamic_friction: 0.565163234169092
+              restitution: 0.0
+          water: {}
+      cup:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/ReceivingCup/Object.usda
+        num_per_env: 1
+        random: false
+        cup_1:
+          pos:
+          - 2.3963171284794247
+          - 0.4189548483421309
+          - 0.5810000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          physics:
+            type: rigid
+            mass: 0.2051389585287463
+            physics_material:
+              static_friction: 0.7804467028337362
+              dynamic_friction: 0.585335027125302
+              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: 1060
+    layout:
+      S:
+      - -2.750356736112643
+      - -1.9972472309471263
+      - 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:
+      - 2.3963171284794247
+      - 0.4189548483421309
+      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: 1060
+      spawn_dxy:
+      - 0.25
+      - -0.197
+      friction_scale:
+        basin_1: 0.942
+        cup_1: 0.976
+        ladle_1: 1.09
+        rack_a0_1: 1.069
+        table_a_1: 0.943
+        table_b_1: 0.91
+      moved:
+        ladle_1:
+        - -0.0021
+        - -0.0097
+        - -1.61
+        cup_1:
+        - 0.0163
+        - 0.019
+      light_scale: 1.047
+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_1060/out
+    formats:
+    - lerobot_v21
+    - sim_info
+    clear_buffer_on_failure: true
+    lerobot:
+      subsample_every: 2
+visual_dr:
+  keep:
+  - Water

N011/go2_arm/dr_off/seed_1060/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}

N011/go2_arm/dr_off/seed_1060/ladle/000/lerobot_v21/data/chunk-000/episode_000000.parquet

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+oid sha256:67adfcc75a9a9db8449262f5e5c120252b8291270560ac701e6bb95d698cd0ab
+size 601429748

N011/go2_arm/dr_off/seed_1060/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": 6084, "magicsim/control_steps": 12168, "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."}

N011/go2_arm/dr_off/seed_1060/ladle/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,427 @@
+{
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+    {
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+     "relation": "right_of",
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+    {
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+     "relation": "on_top_of",
+     "object": "rack_a0_1"
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+     "relation": "right_of",
+     "object": "rack_a0_1"
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+     "relation": "on_top_of",
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+     "object": "table_a_1"
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+    {
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+     "relation": "on_top_of",
+     "object": "table_b_1"
+    },
+    {
+     "subject": "cup_1",
+     "relation": "left_of",
+     "object": "table_b_1"
+    }
+   ],
+   "cameras": [
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+     "model": "go2plus",
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+     "noun": "Unitree Go2 EDU quadruped with a Piper arm",
+     "arms": 1,
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+     "mobile": true,
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+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [
+    {
+     "name": "light_1",
+     "kind": "light",
+     "type": "dome",
+     "pose": {
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+     "brightness": "dim",
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+     "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
+}

N011/go2_arm/dr_off/seed_1060/ladle/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,290 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-09 13:52:00"
+    },
+    "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": [
+                    [
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+                        0.0,
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+                "resolution": [
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+                    480
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+                "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
+                    ],
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+                        0.11,
+                        0.12
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+                        1.5707963267948966
+                    ]
+                },
+                "cup": {
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+                        2.3963171284794247,
+                        0.4189548483421309
+                    ],
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+                },
+                "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",
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+                },
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+                        -0.15000000000000002,
+                        0.9800000000000001
+                    ],
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+                        0.4,
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+                    "spawn_dxy": [
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+                        -0.197
+                    ],
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+                        "rack_a0_1": 1.069,
+                        "table_a_1": 0.943,
+                        "table_b_1": 0.91
+                    },
+                    "moved": {
+                        "ladle_1": [
+                            -0.0021,
+                            -0.0097,
+                            -1.61
+                        ],
+                        "cup_1": [
+                            0.0163,
+                            0.019
+                        ]
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+                    "light_scale": 1.047
+                }
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+                "Ladle": {
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+                    "robot_id": 0,
+                    "init_limit": 30,
+                    "max_attempt": 1,
+                    "completion_timeout_steps": 3600,
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+                        "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
+                        ]
+                    },
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+                        "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,
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+                        "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,
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+                        "z": 0.88
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+                        "forward": 0.0,
+                        "z": 0.88
+                    },
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+                        "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
+                        ],
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+                        "reach_margin": 0.015,
+                        "hold_ticks": 240,
+                        "stop_ticks": 90,
+                        "drain": {
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+                            "aim": 0.0,
+                            "hold_ticks": 90
+                        },
+                        "mode": "roll",
+                        "roll_sign": -1.0
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+                        "pre_dip": -1,
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+                        "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_1060/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
+    }
+}

N011/go2_arm/dr_off/seed_1060/ladle/000/sim_info/0/actions.npz

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+size 2306506

N011/go2_arm/dr_off/seed_1060/ladle/000/sim_info/0/sim_states.npz

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+version https://git-lfs.github.com/spec/v1
+oid sha256:f3d56a53b60b0687cafdbe6543d71a71556ac52b83460b726b2920212c42d791
+size 976562161

N011/go2_arm/dr_off/seed_1060/ladle/000/sim_info/magicsim_manifest.json

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+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-09 13:52:55"
+    },
+    "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
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+                ],
+                "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": "ladle/000",
+        "task_type": "Ladle"
+    }
+}

N011/sawyer_umi/dr_off/seed_1055/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 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": "7050 rows vs ceil(14100/2) = 7050"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 241..14339, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "186.51 MB, 7050 frames at 25 fps, mean luma 81..146, std 35, new picture 7049x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "7050 vs 7050"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "160.12 MB, 7050 frames at 25 fps, mean luma 95..141, std 23, new picture 7049x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "7050 vs 7050"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "ladle/000/sim_info"
+  }
+ }
+}

N011/sawyer_umi/dr_off/seed_1055/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n011_saw_off_1055/out  task=N011  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n011_saw_off_1055/out/ladle/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 7050  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: 7050 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 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 7050 at dataset fps 25 = 282.00 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 7050 rows vs ceil(14100/2) = 7050
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 241..14339, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 186.51 MB, 7050 frames at 25 fps, mean luma 81..146, std 35, new picture 7049x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 7050 vs 7050
+[PASS] video observation.images.wrist decodes, 640x480, not black: 160.12 MB, 7050 frames at 25 fps, mean luma 95..141, std 23, new picture 7049x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 7050 vs 7050
+parquet size 690.43 MB
+[PASS] sim_info present: ladle/000/sim_info
+dataset size 1043.21 MB; whole cell dir 2171.8 MB
+RESULT: ALL PASS

N011/sawyer_umi/dr_off/seed_1055/config.yaml

@@ -0,0 +1,734 @@
+env_string: LadleEnv-V0
+env:
+  sim:
+    device: cpu
+    use_fabric: false
+    decimation: 4
+    dt: 0.005
+    seed: 1055
+    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:
+    RidgebackSawyerUmi:
+      name: ridgebacksawyer_umi
+      type: mobilemanip
+      common:
+        pos:
+        - - -2.9256024349745533
+          - -1.8062228218660004
+          - 0.06
+        - - -2.9256024349745533
+          - -1.8062228218660004
+          - 0.06
+        ori:
+        - - 0
+          - 0
+          - 29.999999999999993
+        - - 0
+          - 0
+          - 29.999999999999993
+        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
+          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
+          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: 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: 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: 0.03
+            goal_yaw_threshold: 0.05
+            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_speed: -0.2
+            max_speed: 0.2
+            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
+        arm:
+          type: default
+        eef:
+          type: default
+      physics:
+        robot_radius: 0.8
+        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:
+    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:
+          - 961.5852894801365
+          - 961.5852894801365
+    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: 0.7510630112401578
+              dynamic_friction: 0.5632972584301184
+              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: 0.8240451534672726
+              dynamic_friction: 0.6180338651004544
+              restitution: 0.0
+      ladle:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Ladle/Object.usda
+        num_per_env: 1
+        random: false
+        ladle_1:
+          pos:
+          - -1.3456155788813495
+          - 3.1111106425853166
+          - 0.7410000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 87.73319217957796
+          physics:
+            type: rigid
+            mass: 0.04330666071691922
+            physics_material:
+              static_friction: 1.5690210276477514
+              dynamic_friction: 1.3728933991917824
+              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: 0.7493087248538721
+              dynamic_friction: 0.561981543640404
+              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: 0.8772990201498017
+              dynamic_friction: 0.6579742651123512
+              restitution: 0.0
+          water: {}
+      cup:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/ReceivingCup/Object.usda
+        num_per_env: 1
+        random: false
+        cup_1:
+          pos:
+          - 2.363041170699214
+          - 0.41928115500710234
+          - 0.5810000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          physics:
+            type: rigid
+            mass: 0.1861376389344685
+            physics_material:
+              static_friction: 0.8005347814654362
+              dynamic_friction: 0.6004010860990772
+              restitution: 0.0
+          water: {}
+  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: N011
+    agent_id: a03
+    embodiment: stretch3
+    level: easy
+    scene_seed: 1055
+    layout:
+      S:
+      - -2.9256024349745533
+      - -1.8062228218660004
+      - 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: 0.9
+          fwd: -0.021
+          stand:
+          - -1.371
+          - 2.22
+          - 1.5707963267948966
+        B:
+          table: B
+          work_point:
+          - 2.38
+          - 0.4
+          arm_dir:
+          - 1.0
+          - 0.0
+          reach: 0.9
+          fwd: -0.021
+          stand:
+          - 1.48
+          - 0.42100000000000004
+          - 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:
+      - -0.559
+      - 2.0250000000000004
+      - 1.5707963267948966
+    cup:
+      center:
+      - 2.363041170699214
+      - 0.41928115500710234
+      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: 1055
+      spawn_dxy:
+      - 0.074
+      - -0.006
+      friction_scale:
+        basin_1: 1.097
+        cup_1: 1.001
+        ladle_1: 0.981
+        rack_a0_1: 0.937
+        table_a_1: 0.939
+        table_b_1: 1.03
+      moved:
+        ladle_1:
+        - 0.0044
+        - -0.0089
+        - -2.27
+        cup_1:
+        - -0.017
+        - 0.0193
+      light_scale: 1.068
+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: 0.66
+        forward: 0.0
+        z: 0.95
+      carry_b:
+        lateral: 0.52
+        forward: 0.0
+        z: 0.95
+      dip:
+        above: 0.12
+        clear_bottom: 0.006
+        rim_under: -0.017
+        tilt_deg: 35.0
+        fill_ticks: 60
+        dwell_ticks: 90
+        rise: 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: 4
+        dip: 4
+        level: 4
+        trim: 4
+        rise: 4
+        pre_pour: 4
+        tilt: 4
+        retreat: 4
+        carry_2: 4
+      carry_min_z: 0.9
+  global_planner:
+    NavTo:
+      use_navmesh: true
+      use_absolute: true
+      translation_threshold: 0.04
+      rotation_threshold: 0.1
+      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: 3600
+      timeout_done_tolerance: 0.06
+      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: 480
+      stall_release_final_factor: 7.5
+    ParallelGripper:
+      gripper_threshold: 0.001
+  atomic_skill:
+    NavToPose:
+      robot_id: 0
+      position_threshold: 0.08
+      angle_threshold: 0.1
+      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_saw_off_1055/out
+    formats:
+    - lerobot_v21
+    - sim_info
+    clear_buffer_on_failure: true
+    lerobot:
+      subsample_every: 2
+visual_dr:
+  keep:
+  - Water

N011/sawyer_umi/dr_off/seed_1055/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}

N011/sawyer_umi/dr_off/seed_1055/ladle/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:533cf3ac9928af18290c4be9e9a5d9f5d0c360ae2a45dfa164d42db19f853ab6
+size 690427043

N011/sawyer_umi/dr_off/seed_1055/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": 7050, "magicsim/control_steps": 14100, "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 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."}

N011/sawyer_umi/dr_off/seed_1055/ladle/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,427 @@
+{
+ "episode_index": 0,
+ "trajectory_id": 0,
+ "env_id": 0,
+ "task_type": "Ladle",
+ "subsample_every": 2,
+ "control_steps": 14100,
+ "language": {
+  "scene": {
+   "objects": [
+    {
+     "id": "table_a_1",
+     "cat_name": "table_a",
+     "inst_id": 1,
+     "noun": "table a",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
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+     "kind": "light",
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+    "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 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
+}

N011/sawyer_umi/dr_off/seed_1055/ladle/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,264 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-09 13:53:54"
+    },
+    "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"
+                ]
+            }
+        ]
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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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+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
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+                "names_source": "_joint_names"
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+                    "frame0.pos_y",
+                    "frame0.pos_z",
+                    "frame0.quat_w",
+                    "frame0.quat_x",
+                    "frame0.quat_y",
+                    "frame0.quat_z"
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+                "source": "PinkInverseKinematicsAction",
+                "names_source": "pink_layout"
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+                "end": 11,
+                "names": [
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+                    "dummy_base_prismatic_y_joint",
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+                    "right_j1",
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+                    "right_j4",
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+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
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+                "end": 15,
+                "names": [
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+                    "gripper_1"
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+                "source": "ObservationManager",
+                "names_source": "generated"
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+        "segments": [
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+                "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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+        "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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+        "video_keys": [
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+            "observation.images.wrist"
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+        "columns": [
+            "action",
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+            "collect_info",
+            "episode_index",
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+            "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": "ladle/000",
+        "task_type": "Ladle"
+    }
+}

N011/sawyer_umi/dr_off/seed_1055/ladle/000/lerobot_v21/meta/tasks.jsonl

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N011/sawyer_umi/dr_off/seed_1055/ladle/000/run_meta.json

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+{
+    "run_id": "ladle/000",
+    "created": "2026-11-09 13:08:32",
+    "num_envs": 1,
+    "session_id": null,
+    "record_config": {
+        "output_dir": "/mnt/scratch/xc536_atomic/n011_saw_off_1055/out",
+        "formats": [
+            "lerobot_v21",
+            "sim_info"
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+        "clear_buffer_on_failure": true,
+        "lerobot": {
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+        }
+    },
+    "config": {
+        "env_string": "LadleEnv-V0",
+        "env": {
+            "sim": {
+                "device": "cpu",
+                "use_fabric": false,
+                "decimation": 4,
+                "dt": 0.005,
+                "seed": 1055,
+                "soft_resets": 1000000,
+                "scene": {
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+                    "env_spacing": 14
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+                    "rendering_mode": "performance",
+                    "enable_reflections": false,
+                    "enable_global_illumination": false,
+                    "enable_translucency": false,
+                    "enable_dl_denoiser": false
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+            },
+            "robot": {
+                "RidgebackSawyerUmi": {
+                    "name": "ridgebacksawyer_umi",
+                    "type": "mobilemanip",
+                    "common": {
+                        "pos": [
+                            [
+                                -2.9256024349745533,
+                                -1.8062228218660004,
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+                            "head_pan": 0.0,
+                            "right_j0": 0.0,
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+                            "right_j2": 0.0,
+                            "right_j3": 0.5,
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+                "max_trajectories": 1
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+                "output_dir": "/mnt/scratch/xc536_atomic/n011_saw_off_1055/out",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
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+        "visual_dr": {
+            "keep": [
+                "Water"
+            ]
+        }
+    },
+    "git_sha": null,
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}

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N011/sawyer_umi/dr_off/seed_1055/ladle/000/sim_info/magicsim_manifest.json

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+        "time": "2026-11-09 13:54:59"
+    },
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+                "name": "RidgebackSawyerUmi",
+                "cfg": "RidgebackSawyerUmiCfg",
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+                    "dummy_base_prismatic_x_joint",
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+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
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+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
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+}