add N052/stretch3/dr_on/seed_6050

N052/stretch3/dr_on/seed_6050/rec/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: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "3107 rows vs ceil(6213/2) = 3107"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 61..6273, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "76.99 MB, 3107 frames at 25 fps, mean luma 95..169, std 26, new picture 3106x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "3107 vs 3107"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "63.42 MB, 3107 frames at 25 fps, mean luma 78..143, std 44, new picture 3106x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "3107 vs 3107"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "memorystage/000/sim_info"
+  }
+ }
+}

N052/stretch3/dr_on/seed_6050/rec/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/sz850_atomic/n052_str_on_6050/out/rec  task=N052  at verify_collect_dataset.py
+dataset root /mnt/scratch/sz850_atomic/n052_str_on_6050/out/rec/memorystage/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 3107  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: 3107 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: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'
+rows 3107 at dataset fps 25 = 124.28 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3107 rows vs ceil(6213/2) = 3107
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6273, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 76.99 MB, 3107 frames at 25 fps, mean luma 95..169, std 26, new picture 3106x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 3107 vs 3107
+[PASS] video observation.images.wrist decodes, 640x480, not black: 63.42 MB, 3107 frames at 25 fps, mean luma 78..143, std 44, new picture 3106x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 3107 vs 3107
+parquet size 4.71 MB
+[PASS] sim_info present: memorystage/000/sim_info
+dataset size 145.38 MB; whole cell dir 147.4 MB
+RESULT: ALL PASS

N052/stretch3/dr_on/seed_6050/rec/memorystage/000/completed/0.json

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

N052/stretch3/dr_on/seed_6050/rec/memorystage/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69af686bc19819101bb94ba1e211ea14266e58599ac61100ae6548730d330f4e
+size 4709914

N052/stretch3/dr_on/seed_6050/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 3107, "magicsim/control_steps": 6213, "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the right of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height."}

N052/stretch3/dr_on/seed_6050/rec/memorystage/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
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N052/stretch3/dr_on/seed_6050/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json

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+   "relations": [
+    {
+     "subject": "st_wall_l_1",
+     "relation": "on_top_of",
+     "object": "st_booth_l_1"
+    },
+    {
+     "subject": "st_wall_l_1",
+     "relation": "left_of",
+     "object": "st_booth_l_1"
+    },
+    {
+     "subject": "st_wall_r_1",
+     "relation": "on_top_of",
+     "object": "st_booth_r_1"
+    },
+    {
+     "subject": "st_wall_r_1",
+     "relation": "left_of",
+     "object": "st_booth_r_1"
+    },
+    {
+     "subject": "st_wall_top_1",
+     "relation": "on_top_of",
+     "object": "st_wall_r_1"
+    },
+    {
+     "subject": "st_wall_top_1",
+     "relation": "right_of",
+     "object": "st_wall_r_1"
+    },
+    {
+     "subject": "st_wall_bottom_1",
+     "relation": "left_of",
+     "object": "st_table_a_1"
+    },
+    {
+     "subject": "st_table_a_1",
+     "relation": "right_of",
+     "object": "st_wall_bottom_1"
+    },
+    {
+     "subject": "st_booth_l_1",
+     "relation": "right_of",
+     "object": "st_wall_l_1"
+    },
+    {
+     "subject": "st_booth_r_1",
+     "relation": "right_of",
+     "object": "st_wall_r_1"
+    },
+    {
+     "subject": "weigher_1",
+     "relation": "behind",
+     "object": "item_blue_1"
+    },
+    {
+     "subject": "item_red_1",
+     "relation": "on_top_of",
+     "object": "weigher_1"
+    },
+    {
+     "subject": "item_red_1",
+     "relation": "behind",
+     "object": "weigher_1"
+    },
+    {
+     "subject": "item_blue_1",
+     "relation": "on_top_of",
+     "object": "weigher_1"
+    },
+    {
+     "subject": "item_blue_1",
+     "relation": "in_front_of",
+     "object": "weigher_1"
+    },
+    {
+     "subject": "delivery_1",
+     "relation": "left_of",
+     "object": "item_blue_1"
+    }
+   ],
+   "cameras": [
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+     "name": "head",
+     "intrinsics": {
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+        0.0,
+        320.0
+       ],
+       [
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+        240.0
+       ],
+       [
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+        0.0,
+        1.0
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+      ],
+      "fov_h_deg": 43.048473468183616,
+      "resolution": [
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+       480
+      ]
+     },
+     "pos_robot": [
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+      2.571933188001383,
+      1.2357227009693783
+     ],
+     "viewpoint": "front-left, slightly above table height",
+     "extrinsics": {
+      "R": [
+       [
+        -5.56468016110756e-08,
+        -0.9999999999938459,
+        -3.5078881838734866e-06
+       ],
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+        -2.9266214562895243e-06,
+        0.825340242716055
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+        -1.9347513867118415e-06,
+        0.5646357088788294
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+      "t": [
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+       -1.0975147957833271,
+       -0.6905334495545234
+      ]
+     }
+    },
+    {
+     "name": "wrist",
+     "intrinsics": {
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+        0.0,
+        320.0
+       ],
+       [
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+        426.9178503597538,
+        240.0
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+       [
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+        0.0,
+        1.0
+       ]
+      ],
+      "fov_h_deg": 73.70742419505024,
+      "resolution": [
+       640,
+       480
+      ]
+     },
+     "pos_robot": [
+      2.7827702164162127,
+      2.629668014443712,
+      -0.0036022559614761122
+     ],
+     "viewpoint": "front-left, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        -0.9999999999940066,
+        3.409534356899787e-06,
+        6.01063709654693e-07
+       ],
+       [
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+        0.9848141327789798,
+        0.1736119922897026
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+       [
+        1.651305908443882e-14,
+        0.1736119922907431,
+        -0.9848141327848816
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+      ],
+      "t": [
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+       -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": [
+       -3.1908,
+       -2.0395,
+       0.06
+      ],
+      "ori": [
+       0.9961128830909729,
+       0.0,
+       0.0,
+       -0.08808568865060806
+      ]
+     },
+     "facing_yaw_deg": -10.106975214344203,
+     "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 white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the right of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, slightly above table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n   [s[st booth r]\n[delivery]e]]le a]m]\n [item red]booth l]\n    [st wall l]\n\n\n\n\n                        [robot]"
+  },
+  "task": {
+   "task_type": "MemoryStage",
+   "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.",
+   "template_id": -1,
+   "slots": {
+    "obj": 3.141592653589793,
+    "support": null
+   },
+   "generic_instruction": "Memorystage the 3.141592653589793.",
+   "task_id": "N052",
+   "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
+}

N052/stretch3/dr_on/seed_6050/rec/memorystage/000/lerobot_v21/meta/info.json

@@ -0,0 +1,344 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "HelloRobotCfg",
+    "total_episodes": 1,
+    "total_frames": 3107,
+    "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": {
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+            "names": null
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+        "observation.environment_state": {
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+            "names": [
+                "articulation_joint_pos.weigher.0",
+                "articulation_joint_pos.weigher.1",
+                "articulation_joint_vel.weigher.0",
+                "articulation_joint_vel.weigher.1",
+                "articulation_pose.weigher.0",
+                "articulation_pose.weigher.1",
+                "articulation_pose.weigher.2",
+                "articulation_pose.weigher.3",
+                "articulation_pose.weigher.4",
+                "articulation_pose.weigher.5",
+                "articulation_pose.weigher.6",
+                "object_pose.delivery.0",
+                "object_pose.delivery.1",
+                "object_pose.delivery.2",
+                "object_pose.delivery.3",
+                "object_pose.delivery.4",
+                "object_pose.delivery.5",
+                "object_pose.delivery.6",
+                "object_pose.item_blue.0",
+                "object_pose.item_blue.1",
+                "object_pose.item_blue.2",
+                "object_pose.item_blue.3",
+                "object_pose.item_blue.4",
+                "object_pose.item_blue.5",
+                "object_pose.item_blue.6",
+                "object_pose.item_red.0",
+                "object_pose.item_red.1",
+                "object_pose.item_red.2",
+                "object_pose.item_red.3",
+                "object_pose.item_red.4",
+                "object_pose.item_red.5",
+                "object_pose.item_red.6",
+                "object_pose.st_booth_l.0",
+                "object_pose.st_booth_l.1",
+                "object_pose.st_booth_l.2",
+                "object_pose.st_booth_l.3",
+                "object_pose.st_booth_l.4",
+                "object_pose.st_booth_l.5",
+                "object_pose.st_booth_l.6",
+                "object_pose.st_booth_r.0",
+                "object_pose.st_booth_r.1",
+                "object_pose.st_booth_r.2",
+                "object_pose.st_booth_r.3",
+                "object_pose.st_booth_r.4",
+                "object_pose.st_booth_r.5",
+                "object_pose.st_booth_r.6",
+                "object_pose.st_table_a.0",
+                "object_pose.st_table_a.1",
+                "object_pose.st_table_a.2",
+                "object_pose.st_table_a.3",
+                "object_pose.st_table_a.4",
+                "object_pose.st_table_a.5",
+                "object_pose.st_table_a.6",
+                "object_pose.st_table_b.0",
+                "object_pose.st_table_b.1",
+                "object_pose.st_table_b.2",
+                "object_pose.st_table_b.3",
+                "object_pose.st_table_b.4",
+                "object_pose.st_table_b.5",
+                "object_pose.st_table_b.6",
+                "object_pose.st_wall_bottom.0",
+                "object_pose.st_wall_bottom.1",
+                "object_pose.st_wall_bottom.2",
+                "object_pose.st_wall_bottom.3",
+                "object_pose.st_wall_bottom.4",
+                "object_pose.st_wall_bottom.5",
+                "object_pose.st_wall_bottom.6",
+                "object_pose.st_wall_l.0",
+                "object_pose.st_wall_l.1",
+                "object_pose.st_wall_l.2",
+                "object_pose.st_wall_l.3",
+                "object_pose.st_wall_l.4",
+                "object_pose.st_wall_l.5",
+                "object_pose.st_wall_l.6",
+                "object_pose.st_wall_r.0",
+                "object_pose.st_wall_r.1",
+                "object_pose.st_wall_r.2",
+                "object_pose.st_wall_r.3",
+                "object_pose.st_wall_r.4",
+                "object_pose.st_wall_r.5",
+                "object_pose.st_wall_r.6",
+                "object_pose.st_wall_top.0",
+                "object_pose.st_wall_top.1",
+                "object_pose.st_wall_top.2",
+                "object_pose.st_wall_top.3",
+                "object_pose.st_wall_top.4",
+                "object_pose.st_wall_top.5",
+                "object_pose.st_wall_top.6",
+                "object_pose.weigher.0",
+                "object_pose.weigher.1",
+                "object_pose.weigher.2",
+                "object_pose.weigher.3",
+                "object_pose.weigher.4",
+                "object_pose.weigher.5",
+                "object_pose.weigher.6"
+            ]
+        },
+        "action.command": {
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+        "action.applied": {
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+                13
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+            "names": null
+        },
+        "narration": {
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+            "shape": [
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+        "collect_info": {
+            "dtype": "string",
+            "shape": [
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+            "names": null
+        },
+        "extra.reward": {
+            "dtype": "float32",
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+                1
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+            "names": null
+        },
+        "extra.action_info": {
+            "dtype": "string",
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+                1
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+            "names": null
+        },
+        "next.truncated": {
+            "dtype": "bool",
+            "shape": [
+                1
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+            "names": null
+        },
+        "sim_step_idx": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
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+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
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+            "names": null
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+        "task_index": {
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+            "names": null
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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
+            }
+        }
+    }
+}

N052/stretch3/dr_on/seed_6050/rec/memorystage/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,259 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-09 05:42:23"
+    },
+    "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",
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+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
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+}

N052/stretch3/dr_on/seed_6050/report.json

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