add N015/stretch3/dr_on/seed_6008

N015/stretch3/dr_on/seed_6008/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the rack, pick up the tray with the water in it, carry it to the work table, set it on the holder, and tilt it so the water flows around the barrier into the collecting pocket.'; expected 'Go to the rack, pick up the tray with the water in it, carry it to the work table, set it on the holder, and tilt it so the water flows around the barrier into the collecting pocket.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "3383 rows vs ceil(6765/2) = 3383"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 251..7015, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "104.82 MB, 3383 frames at 25 fps, mean luma 50..105, std 21, new picture 3382x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "3383 vs 3383"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "113.40 MB, 3383 frames at 25 fps, mean luma 75..122, std 34, new picture 3382x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "3383 vs 3383"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "tiltmaze/000/sim_info"
+  }
+ }
+}

N015/stretch3/dr_on/seed_6008/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/sz850_atomic/n015_str_on_6008/out  task=N015  at verify_collect_dataset.py
+dataset root /mnt/scratch/sz850_atomic/n015_str_on_6008/out/tiltmaze/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 3383  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: 3383 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']
+[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the rack, pick up the tray with the water in it, carry it to the work table, set it on the holder, and tilt it so the water flows around the barrier into the collecting pocket.'; expected 'Go to the rack, pick up the tray with the water in it, carry it to the work table, set it on the holder, and tilt it so the water flows around the barrier into the collecting pocket.'
+rows 3383 at dataset fps 25 = 135.32 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3383 rows vs ceil(6765/2) = 3383
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 251..7015, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 104.82 MB, 3383 frames at 25 fps, mean luma 50..105, std 21, new picture 3382x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 3383 vs 3383
+[PASS] video observation.images.wrist decodes, 640x480, not black: 113.40 MB, 3383 frames at 25 fps, mean luma 75..122, std 34, new picture 3382x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 3383 vs 3383
+parquet size 31.73 MB
+[PASS] sim_info present: tiltmaze/000/sim_info
+dataset size 250.66 MB; whole cell dir 297.8 MB
+RESULT: ALL PASS

N015/stretch3/dr_on/seed_6008/config.yaml

@@ -0,0 +1,685 @@
+env_string: TiltMazeEnv-V0
+env:
+  sim:
+    device: cpu
+    use_fabric: false
+    decimation: 4
+    dt: 0.005
+    seed: 6008
+    soft_resets: 1000000
+    scene:
+      num_envs: 1
+      env_spacing: 14
+    render:
+      rendering_mode: performance
+      enable_reflections: false
+      enable_global_illumination: false
+      enable_translucency: false
+      enable_dl_denoiser: false
+  robot:
+    HelloRobot:
+      name: hellorobot
+      type: mobilemanip
+      common:
+        pos:
+        - - -3.187414215488288
+          - -1.6753007089578607
+          - 0.06
+        - - -3.187414215488288
+          - -1.6753007089578607
+          - 0.06
+        ori:
+        - - 0
+          - 0
+          - -120.00000000000001
+        - - 0
+          - 0
+          - -120.00000000000001
+        initial_joint_pos:
+          joint_lift: 0.55
+          joint_arm_l[0-3]: 0.025
+          joint_wrist_yaw: 0.0
+          joint_wrist_roll: 1.5707963267948966
+      action:
+        base_action: differential_virtual
+        arm_action: ik_abs
+        eef_action: binary
+      planner:
+        dual_mode: true
+        base_joint_names:
+        - dummy_base_prismatic_x_joint
+        - dummy_base_prismatic_y_joint
+        - dummy_base_revolute_z_joint
+        obstacle_ignore_categories: []
+        ik:
+          type: hellorobot
+          enable: true
+          ik_num_instances: 1
+          ik_batch_size: 1
+          ik_num_seeds: 32
+          ik_max_goalset: 1
+          ik_position_threshold: 0.003
+          ik_rotation_threshold: 0.02
+          microbatch_wait_ms: 1.0
+          seed_use_live_joint_pos: true
+        motiongen:
+          type: hellorobot
+          enable: true
+          motiongen_num_instances: 1
+          batch_size: 1
+          microbatch_wait_ms: 1.0
+          seed_use_live_joint_pos: true
+          mode: position
+          num_trajopt_seeds: 1
+          num_ik_seeds: 4
+        body:
+          type: nav
+          dwb_type: dwb_differential
+          dwb_differential:
+            device: cpu
+            dt: 0.02
+            debug: false
+            num_rollout_steps: 60
+            num_speed_samples: 11
+            num_steer_samples: 11
+            num_vx_samples: 7
+            num_vy_samples: 7
+            num_yaw_samples: 7
+            max_accel: 0.4
+            max_steer_rate: 1.5
+            max_accel_vx: 0.4
+            max_accel_vy: 0.4
+            max_yaw_accel: 1.5
+            w_goal: 6.0
+            w_path: 8.0
+            w_vel: 0.2
+            w_vy: 0.0
+            dilate_radius: 0.4
+            room_size: 12.0
+            occupancy_update_interval: 50
+            scan_height: 0.45
+            scan_min_z: 0.22
+            scan_max_z: 1.75
+            goal_pos_threshold: 0.07
+            goal_yaw_threshold: 0.15
+            kp_goal_yaw: 1.5
+            min_speed: -0.2
+            max_speed: 0.2
+            w_heading: 0.5
+            min_yaw_rate: -0.8
+            max_yaw_rate: 0.8
+            safety_enabled: true
+            safety_deceleration: 0.5
+            safety_reaction_time: 0.5
+            goal_heading_fade_distance: 0.5
+            scan_type: 3d
+            own_body_clear: true
+            own_body_radius: 0.15
+          p_controller:
+            kp_angular_turning_only: 2.0
+            kd_angular_turning_only: 0.2
+            kp_linear_x: 2.0
+            kp_linear_y: 2.0
+            kp_angular: 2.0
+            kd_linear_x: 0.1
+            kd_linear_y: 0.1
+            min_vel: -0.25
+            max_vel: 0.35
+            linear_dead_zone: 0.003
+            angular_dead_zone: 0.008
+            nav_heading_target: 1
+            velocity_frame: world
+        arm:
+          type: default
+        eef:
+          type: default
+      physics:
+        robot_radius: 0.4
+        wheel_base: 0.5
+      reset: default
+  camera:
+    enable_tiled: false
+    colorize_depth: false
+    head:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 2.73834228515625
+        horizontal_aperture: 2.1600000858306885
+        vertical_aperture: 1.62
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/base_link
+        pos:
+        - 0.049771
+        - -0.002942
+        - 1.295723
+        ori:
+        - 0.0002
+        - -55.623
+        - -90.0
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+    wrist:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.280753493309021
+        horizontal_aperture: 1.9199999570846558
+        vertical_aperture: 1.44
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/link_gripper_s3_body
+        pos:
+        - 0.009
+        - 0.062939
+        - 0.056398
+        ori:
+        - -170.0021
+        - 0.0
+        - -179.9998
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+  scene:
+    terrain:
+      type: nav_room
+      collision: true
+      hide_top_walls: true
+      usd:
+      - $MAGICSIM_ASSETS/Room/Collected_SimpleRoom
+      annotation: Annotation
+      random: false
+      pos:
+      - 0.0
+      - 0.0
+      - 0.0
+      ori:
+      - 0.0
+      - 0.0
+      - 0.0
+      scale:
+      - 1.0
+      - 1.0
+      - 1.0
+      physics_material:
+        static_friction: 1.0
+        dynamic_friction: 1.0
+        restitution: 0.0
+        friction_combine_mode: multiply
+        restitution_combine_mode: multiply
+    background:
+      intensity:
+      - 1000
+      - 1000
+    light:
+      light_1:
+        types:
+        - Dome
+        common:
+          pos:
+          - 0.0
+          - 0.0
+          - 0.0
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          color_temperature_range:
+          - 6500
+          - 6500
+          color_range:
+          - - 1.0
+            - 1.0
+            - 1.0
+          - - 1.0
+            - 1.0
+            - 1.0
+        Dome:
+          intensity_range:
+          - 952.6361756639127
+          - 952.6361756639127
+    water:
+      max_particles: 1600
+      particle:
+        fluid_rest_offset: 0.0018
+        ccd: true
+      look:
+        mode: spheres
+        color:
+        - 0.05
+        - 0.45
+        - 1.0
+        bead_scale: 1.5
+      retire:
+        floor_ttl: 3600.0
+        max_age: 7200.0
+        radius: 30.0
+        below: -2.0
+    objects:
+      table_a:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        table_a_1:
+          pos:
+          - -1.0
+          - 3.2
+          - 0.30500000000000005
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.9
+          - 0.6
+          - 0.55
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.35
+              - 0.37
+              - 0.4
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.8307046657637056
+              dynamic_friction: 0.6230284993227792
+              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: 0.8703459806347539
+              dynamic_friction: 0.6527594854760653
+              restitution: 0.0
+      tray:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Tray/Object.usda
+        num_per_env: 1
+        random: false
+        tray_1:
+          pos:
+          - -0.9999865969690966
+          - 3.12284301834394
+          - 0.7210000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 92.90689326438277
+          physics:
+            type: rigid
+            mass: 0.07202555461927065
+            physics_material:
+              static_friction: 1.4888580722900926
+              dynamic_friction: 1.3027508132538308
+              restitution: 0.0
+          water: {}
+      rack_a0:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        rack_a0_1:
+          pos:
+          - -1.0
+          - 3.2835
+          - 0.6240000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.1
+          - 0.173
+          - 0.08799999999999997
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.45
+              - 0.3
+              - 0.18
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.8105121415165991
+              dynamic_friction: 0.6078841061374493
+              restitution: 0.0
+      cradle:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Cradle/Object.usda
+        num_per_env: 1
+        random: false
+        cradle_1:
+          pos:
+          - 2.449
+          - 0.4
+          - 0.5800000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.8198548274698351
+              dynamic_friction: 0.6148911206023763
+              restitution: 0.0
+  nav:
+    navmesh:
+      enabled: true
+      visualize: false
+      bake_timeout_s: 120
+      agent_height_cm: 170
+      min_agent_radius_cm: 55.0
+      max_agent_radius_cm: 55.0
+      max_step_height_cm: 20
+      max_floor_slope_deg: 30
+      agent_island_radius_cm: 5
+      auto_exclude_rigid_bodies: true
+      validate_path_clearance: true
+      validate_path_window: true
+      navmesh_offset_z_m: 0
+      verbose: true
+    occupancymap:
+      cell_size: 0.05
+task:
+  observation: {}
+  reward: {}
+  termination:
+    timeout_steps: 24000
+    success_hold_frames: 1
+  mmb:
+    task_id: N015
+    agent_id: a03
+    embodiment: stretch3
+    level: easy
+    scene_seed: 6008
+    layout:
+      S:
+      - -3.187414215488288
+      - -1.6753007089578607
+      - -2.0943951023931957
+      tables:
+        A:
+          center:
+          - -1.0
+          - 3.2
+          size:
+          - 0.9
+          - 0.6
+          top: 0.5800000000000001
+          color:
+          - 0.35
+          - 0.37
+          - 0.4
+        B:
+          center:
+          - 2.6
+          - 0.4
+          size:
+          - 0.7
+          - 1.0
+          top: 0.5800000000000001
+          color:
+          - 0.35
+          - 0.37
+          - 0.4
+      stations:
+        A:
+          table: A
+          work_point:
+          - -1.0
+          - 3.12
+          arm_dir:
+          - 0.0
+          - 1.0
+          reach: 0.74
+          fwd: -0.021
+          stand:
+          - -1.021
+          - 2.38
+          - -3.141592653589793
+        B:
+          table: B
+          work_point:
+          - 2.34
+          - 0.4
+          arm_dir:
+          - 1.0
+          - 0.0
+          reach: 0.5900000000000001
+          fwd: -0.021
+          stand:
+          - 1.7499999999999998
+          - 0.42100000000000004
+          - 1.5707963267948966
+    hold_ticks: 40
+    grace_ticks: 300
+    water_settle_ticks: 160
+    object_settle_ticks: 60
+    planning:
+      avoid:
+      - dynamic
+      ignore:
+      - tray
+      - water
+    water:
+      max_particles: 1600
+      fluid_rest_offset: 0.0018
+    cradle:
+      center:
+      - 2.449
+      - 0.4
+      top_z: 0.6500000000000001
+      far_edge_x: 2.549
+      size:
+      - 0.2
+      - 0.12
+      - 0.07
+    start:
+      ml: 24.0
+      blob_shift_x: 0.0
+    success:
+      min_pocket_ml: 14.0
+      max_start_ml: 7.0
+      min_start_at_cradle_frac: 0.8
+      max_spill_ml: 3.0
+      min_carry_frac: 0.9
+      max_over_top_ticks: 6
+      max_end_tilt_deg: 4.0
+    tool:
+      category: tray
+      asset: Tray
+      plate_z: 0.7200000000000001
+    view:
+      eye:
+      - 2.999
+      - -0.09999999999999998
+      - 1.0
+      target:
+      - 2.449
+      - 0.4
+      - 0.6800000000000002
+    dr:
+      seed: 6008
+      spawn_dxy:
+      - -0.187
+      - 0.125
+      friction_scale:
+        cradle_1: 1.025
+        rack_a0_1: 1.013
+        table_a_1: 1.038
+        table_b_1: 1.088
+        tray_1: 0.931
+      moved:
+        tray_1:
+        - 0.0
+        - 0.0028
+        - 2.91
+      light_scale: 1.058
+collect:
+  command:
+    TiltMaze:
+      stage_retries: 2
+      robot_id: 0
+      init_limit: 30
+      max_attempt: 1
+      completion_timeout_steps: 4000
+      pre_back: 0.12
+      lift: 0.08
+      lift_slip_deg: 12.0
+      carry:
+        lateral: 0.55
+        forward: 0.0
+        z: 0.88
+        pitch_up_deg: 16.0
+      place:
+        above: 0.06
+        contact_gap: 0.002
+        pre_pitch_up_deg: 5.0
+      tilt:
+        deg:
+        - 5.0
+        - 9.0
+        - 13.0
+        hold_ticks: 300
+        back_deg:
+        - 8.0
+        - 4.0
+        - 0.0
+      modes:
+        pre_grasp: -1
+        grasp: 4
+        lift: 4
+        carry: -1
+        trim: 4
+        pre_place: -1
+        place: 4
+        tilt: 4
+        release: 4
+        retreat: 4
+  global_planner:
+    NavTo:
+      use_navmesh: true
+      use_absolute: true
+      translation_threshold: 0.15
+      rotation_threshold: 3.3
+      num_path_segments: 30
+      start_forward_offset: 0.0
+      visualize_path: false
+      carry_arm: true
+    NavToTrim:
+      use_navmesh: false
+      carry_arm: true
+      visualize_path: false
+      trim_pos_threshold: 0.01
+      trim_yaw_threshold: 0.015
+      max_steps: 1500
+    MobileMoveL:
+      translation_threshold: 0.008
+      rotation_threshold: 0.08
+      stall_release_ticks: 80
+      stall_release_factor: 2.5
+      motiongen_distance_threshold: 0.0
+      timeout_steps: 900
+      debug: false
+      debug_viz: false
+      debug_sphere: false
+      reactive: false
+      base_pos_threshold: 0.025
+      base_rot_threshold: 0.05
+      eef_pos_threshold: 0.03
+      eef_rot_threshold: 0.1
+      waypoint_max_steps: 30
+      interp_steps: 120
+    ParallelGripper:
+      gripper_threshold: 0.001
+  atomic_skill:
+    NavToPose:
+      robot_id: 0
+      position_threshold: 0.15
+      angle_threshold: 3.3
+      trim: true
+    Move:
+      robot_id: 0
+      hand_id: 0
+      arm_planner: MobileMoveL
+      hand_planner: ParallelGripper
+      ramp_steps: 0
+      hold_steps: 60
+      open_value: 0.0
+      close_value: 1.0
+  auto_collect:
+    task_type: tiltmaze
+    max_trajectories: 1
+  record:
+    output_dir: /mnt/scratch/sz850_atomic/n015_str_on_6008/out
+    formats:
+    - lerobot_v21
+    - sim_info
+    clear_buffer_on_failure: true
+    lerobot:
+      subsample_every: 2
+visual_dr:
+  keep:
+  - Water

N015/stretch3/dr_on/seed_6008/tiltmaze/000/completed/0.json

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+{"run_id": "tiltmaze/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null}

N015/stretch3/dr_on/seed_6008/tiltmaze/000/lerobot_v21/data/chunk-000/episode_000000.parquet

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+size 31734988

N015/stretch3/dr_on/seed_6008/tiltmaze/000/lerobot_v21/meta/episodes.jsonl

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N015/stretch3/dr_on/seed_6008/tiltmaze/000/lerobot_v21/meta/extra/episode_000000.json

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+   "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown rack a0. There are a large gray table a, a large gray table b, a small tray, a large brown rack a0 and a small cradle. The gray table a is in front of the brown rack a0. The gray table b is to the left of the cradle. The tray is on top of the brown rack a0. The tray is to the left of the brown rack a0. The brown rack a0 is to the right of the tray. The cradle is on top of the gray table b. The cradle is to the right of the gray table b. The scene is lit by a cool light from the back-left. The scene is viewed from back-left, slightly above table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                        [robot]\n\n\n\n\n\n\n[[cradle]\n                      [rack a0]"
+  },
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+}

N015/stretch3/dr_on/seed_6008/tiltmaze/000/lerobot_v21/meta/info.json

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+            ],
+            "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
+            }
+        }
+    }
+}

N015/stretch3/dr_on/seed_6008/tiltmaze/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,259 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 06:27:28"
+    },
+    "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"
+            }
+        ]
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+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_vel",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
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+            "observation.images.head",
+            "observation.images.wrist"
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+        "columns": [
+            "action",
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+            "action_is_hold",
+            "collect_info",
+            "episode_index",
+            "extra.action_info",
+            "extra.reward",
+            "frame_index",
+            "index",
+            "narration",
+            "next.done",
+            "next.truncated",
+            "observation.eef_pose",
+            "observation.environment_state",
+            "observation.images.head",
+            "observation.images.wrist",
+            "observation.joint_vel",
+            "observation.state",
+            "sim_step_idx",
+            "task_index",
+            "timestamp"
+        ]
+    },
+    "generated_run": {
+        "run_id": "tiltmaze/000",
+        "task_type": "TiltMaze"
+    }
+}

N015/stretch3/dr_on/seed_6008/tiltmaze/000/lerobot_v21/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Go to the rack, pick up the tray with the water in it, carry it to the work table, set it on the holder, and tilt it so the water flows around the barrier into the collecting pocket."}

N015/stretch3/dr_on/seed_6008/tiltmaze/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

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+oid sha256:361afb45b1503229ae99cf04688bf27d91c20c487556d63176bd95f91b522a3b
+size 104821727

N015/stretch3/dr_on/seed_6008/tiltmaze/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

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N015/stretch3/dr_on/seed_6008/tiltmaze/000/run_meta.json

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+{
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+    "created": "2026-11-10 06:07:16",
+    "num_envs": 1,
+    "session_id": null,
+    "record_config": {
+        "output_dir": "/mnt/scratch/sz850_atomic/n015_str_on_6008/out",
+        "formats": [
+            "lerobot_v21",
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+        "clear_buffer_on_failure": true,
+        "lerobot": {
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+                "decimation": 4,
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+                        "base_joint_names": [
+                            "dummy_base_prismatic_x_joint",
+                            "dummy_base_prismatic_y_joint",
+                            "dummy_base_revolute_z_joint"
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+                        "obstacle_ignore_categories": [],
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+                            "ik_num_seeds": 32,
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N015/stretch3/dr_on/seed_6008/tiltmaze/000/sim_info/magicsim_manifest.json

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+        "time": "2026-11-10 06:27:59"
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+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
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+        "task_type": "TiltMaze"
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+}

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+    "root": "/mnt/scratch/sz850_cache/MagicSim4_b3820fd82e/Assets/Material",
+    "pool_sizes": {
+     "ground": 42,
+     "wall": 28,
+     "furniture": 38,
+     "object": 54
+    }
+   },
+   "no_swap": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "reason": "glass",
+     "bound_prims": 1
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "reason": "emissive",
+     "bound_prims": 1
+    }
+   ],
+   "unsupported": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "mdl": "OmniGlass.mdl",
+     "bound_prims": 1
+    }
+   ]
+  }
+ ]
+}