add N023/stretch3/dr_off/seed_5015

N023/stretch3/dr_off/seed_5015/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 pen, pull the cap off its tip, and push the cap onto the other end of the pen.'; expected 'Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "2424 rows vs ceil(4847/2) = 2424"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 31..4877, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "18.39 MB, 2424 frames at 25 fps, mean luma 107..146, std 15, new picture 2423x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "2424 vs 2424"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "51.32 MB, 2424 frames at 25 fps, mean luma 124..161, std 37, new picture 2423x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "2424 vs 2424"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stationassembly/000/sim_info"
+  }
+ }
+}

N023/stretch3/dr_off/seed_5015/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/sz850_atomic/n023_str_off_5015/out  task=N023  at verify_collect_dataset.py
+dataset root /mnt/scratch/sz850_atomic/n023_str_off_5015/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 2424  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: 2424 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 pen, pull the cap off its tip, and push the cap onto the other end of the pen.'; expected 'Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.'
+rows 2424 at dataset fps 25 = 96.96 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2424 rows vs ceil(4847/2) = 2424
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..4877, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 18.39 MB, 2424 frames at 25 fps, mean luma 107..146, std 15, new picture 2423x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 2424 vs 2424
+[PASS] video observation.images.wrist decodes, 640x480, not black: 51.32 MB, 2424 frames at 25 fps, mean luma 124..161, std 37, new picture 2423x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 2424 vs 2424
+parquet size 2.27 MB
+[PASS] sim_info present: stationassembly/000/sim_info
+dataset size 72.18 MB; whole cell dir 73.4 MB
+RESULT: ALL PASS

N023/stretch3/dr_off/seed_5015/report.json

@@ -0,0 +1,2733 @@
+{
+  "task": "N023",
+  "agent_id": null,
+  "embodiment": "stretch3",
+  "level": "easy",
+  "scene_seed": 5015,
+  "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)",
+  "config": "/mnt/scratch/sz850_cache/MagicSim4_b3820fd82e/src/magicsim/Collect/Task/MobileAssembly/Conf/n023_pen_cap.yaml",
+  "full_success": true,
+  "failure_reason": null,
+  "dr": {
+    "seed": 5015,
+    "pen_cap": {
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+      "dy": -0.03299,
+      "yaw_deg": 7.83352
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+      "env.scene.objects.cap.cap_1.physics.mass": 0.01615,
+      "env.scene.background.intensity": [
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+      "env.robot.RidgebackSawyerUmi.common.pos": [
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+  },
+  "planner_seeds": {
+    "label": "lean",
+    "num_trajopt_seeds": 1,
+    "num_ik_seeds": 4,
+    "max_attempts": 6
+  },
+  "collect": {
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+    "robot": "stretch3",
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+      "MMB_TASK_ID": "N023",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "0"
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+    "resolution": [
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+    "camera_hz": 25,
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+        "sim_info"
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+      "clear_buffer_on_failure": true,
+      "lerobot": {
+        "subsample_every": 2
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+  },
+  "steps": 4877,
+  "task_id": "N023",
+  "task_version": "EXT60-MobileAvatar-v3",
+  "family_id": "cap_transfer",
+  "primary_category": "C4",
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N023/stretch3/dr_off/seed_5015/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,652 @@
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+     "model": "hellorobot",
+     "type": "mobilemanip",
+     "noun": "Hello Robot Stretch 3 mobile manipulator",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
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+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 954.99339,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the gray table A. There are a large gray table A, a small pen holder and a small cap. The gray table A is to the left of the pen holder. The pen holder is to the right of the cap. The cap is to the left of the pen holder. The scene is viewed from front-right, slightly above table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                   [pen h[cap]]\n\n\n\n\n\n\n\n[robot]"
+  },
+  "task": {
+   "task_type": "StationAssembly",
+   "instruction": "Go to the pen, pull the cap off its tip, and push the cap onto the other end of the pen.",
+   "template_id": -1,
+   "slots": {
+    "obj": 3.2783136016633305,
+    "support": null
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+   "generic_instruction": "Stationassembly the 3.2783136016633305.",
+   "task_id": "N023",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {
+   "frame_1629": {
+    "frame_idx": 1629,
+    "caption": "Computing a grasp pose for the small cap; the right gripper is below and to the right of and in front of the cap.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavToTrim",
+    "planner_state": "finished",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of",
+     "in_front_of"
+    ]
+   },
+   "frame_1630": {
+    "frame_idx": 1630,
+    "caption": "Working on the small cap; the right gripper is below and to the right of and in front of the cap.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of",
+     "in_front_of"
+    ]
+   },
+   "frame_1746": {
+    "frame_idx": 1746,
+    "caption": "Computing a grasp pose for the small cap; the right gripper is below and to the right of and in front of the cap.",
+    "skill": "ReachStance",
+    "phase": "verify",
+    "skill_state": "computing",
+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of",
+     "in_front_of"
+    ]
+   },
+   "frame_1750": {
+    "frame_idx": 1750,
+    "caption": "Working on the small cap; the right gripper is below and to the right of and in front of the cap.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of",
+     "in_front_of"
+    ]
+   },
+   "frame_1914": {
+    "frame_idx": 1914,
+    "caption": "Working on the small cap; the right gripper is below and to the right of the cap.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of"
+    ]
+   },
+   "frame_1940": {
+    "frame_idx": 1940,
+    "caption": "Working on the small cap; the right gripper is below the cap.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_3002": {
+    "frame_idx": 3002,
+    "caption": "The skill for the small cap could not be planned; the right gripper is below the cap.",
+    "skill": "Grasp",
+    "phase": "grasp",
+    "skill_state": "failed",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_3003": {
+    "frame_idx": 3003,
+    "caption": "Computing a grasp pose for the small cap; the right gripper is below the cap.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "computing",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_3004": {
+    "frame_idx": 3004,
+    "caption": "Working on the small cap; the right gripper is below the cap.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_3349": {
+    "frame_idx": 3349,
+    "caption": "Working on the small cap.",
+    "skill": "AssemblyGrasp",
+    "phase": "grasp",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": []
+   },
+   "frame_3414": {
+    "frame_idx": 3414,
+    "caption": "Done — the small cap is grasped.",
+    "skill": "Grasp",
+    "phase": "completed",
+    "skill_state": "finished",
+    "planner": "ParallelGripper",
+    "planner_state": "finished",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": []
+   },
+   "frame_3415": {
+    "frame_idx": 3415,
+    "caption": "Working on the small cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:start",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": []
+   },
+   "frame_3466": {
+    "frame_idx": 3466,
+    "caption": "Working on the small cap; the right gripper is to the right of the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "trim",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "right_of"
+    ]
+   },
+   "frame_3545": {
+    "frame_idx": 3545,
+    "caption": "Working on the small cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:pull",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": []
+   },
+   "frame_3576": {
+    "frame_idx": 3576,
+    "caption": "Working on the small cap; the right gripper is in front of the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:pull",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "in_front_of"
+    ]
+   },
+   "frame_3617": {
+    "frame_idx": 3617,
+    "caption": "Working on the small cap; the right gripper is below and in front of the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:lift",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_3639": {
+    "frame_idx": 3639,
+    "caption": "Working on the small cap; the right gripper is below the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:lift",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_3817": {
+    "frame_idx": 3817,
+    "caption": "Working on the small cap; the right gripper is below and to the right of the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "trim",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of"
+    ]
+   },
+   "frame_3845": {
+    "frame_idx": 3845,
+    "caption": "Working on the small cap; the right gripper is below the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:turn_via",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_3878": {
+    "frame_idx": 3878,
+    "caption": "Working on the small cap; the right gripper is below and to the right of the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "trim",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of"
+    ]
+   },
+   "frame_4200": {
+    "frame_idx": 4200,
+    "caption": "Working on the small cap; the right gripper is below the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "trim",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_4222": {
+    "frame_idx": 4222,
+    "caption": "Working on the small cap; the right gripper is below and to the left of the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "trim",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of"
+    ]
+   },
+   "frame_4235": {
+    "frame_idx": 4235,
+    "caption": "Working on the small cap; the right gripper is below and to the left of and behind the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "trim",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "behind"
+    ]
+   },
+   "frame_4381": {
+    "frame_idx": 4381,
+    "caption": "Working on the small cap; the right gripper is to the left of and behind the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:down",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "left_of",
+     "behind"
+    ]
+   },
+   "frame_4805": {
+    "frame_idx": 4805,
+    "caption": "Working on the small cap; the right gripper is below and to the left of and behind the cap.",
+    "skill": "AssemblyInsert",
+    "phase": "leave",
+    "skill_state": "running",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "cap_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "behind"
+    ]
+   }
+  }
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N023/stretch3/dr_off/seed_5015/stationassembly/000/lerobot_v21/meta/info.json

@@ -0,0 +1,270 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "HelloRobotCfg",
+    "total_episodes": 1,
+    "total_frames": 2424,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                11
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "arm_action_0",
+                "arm_action_1",
+                "arm_action_2",
+                "arm_action_3",
+                "arm_action_4",
+                "arm_action_5",
+                "arm_action_6",
+                "gripper"
+            ]
+        },
+        "action_is_hold": {
+            "dtype": "bool",
+            "shape": [
+                11
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "joint_lift",
+                "joint_head_pan",
+                "joint_head_tilt",
+                "joint_arm_l3",
+                "joint_arm_l2",
+                "joint_arm_l1",
+                "joint_arm_l0",
+                "joint_wrist_yaw",
+                "joint_wrist_pitch",
+                "joint_wrist_roll",
+                "joint_gripper_finger_left",
+                "joint_gripper_finger_right"
+            ]
+        },
+        "observation.joint_vel": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "joint_lift",
+                "joint_head_pan",
+                "joint_head_tilt",
+                "joint_arm_l3",
+                "joint_arm_l2",
+                "joint_arm_l1",
+                "joint_arm_l0",
+                "joint_wrist_yaw",
+                "joint_wrist_pitch",
+                "joint_wrist_roll",
+                "joint_gripper_finger_left",
+                "joint_gripper_finger_right"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                21
+            ],
+            "names": [
+                "object_pose.cap.0",
+                "object_pose.cap.1",
+                "object_pose.cap.2",
+                "object_pose.cap.3",
+                "object_pose.cap.4",
+                "object_pose.cap.5",
+                "object_pose.cap.6",
+                "object_pose.pen_holder.0",
+                "object_pose.pen_holder.1",
+                "object_pose.pen_holder.2",
+                "object_pose.pen_holder.3",
+                "object_pose.pen_holder.4",
+                "object_pose.pen_holder.5",
+                "object_pose.pen_holder.6",
+                "object_pose.table_A.0",
+                "object_pose.table_A.1",
+                "object_pose.table_A.2",
+                "object_pose.table_A.3",
+                "object_pose.table_A.4",
+                "object_pose.table_A.5",
+                "object_pose.table_A.6"
+            ]
+        },
+        "action.command": {
+            "dtype": "float32",
+            "shape": [
+                848
+            ],
+            "names": null
+        },
+        "action.applied": {
+            "dtype": "float32",
+            "shape": [
+                13
+            ],
+            "names": null
+        },
+        "narration": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "collect_info": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "extra.reward": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "extra.action_info": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.truncated": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "sim_step_idx": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25,
+                "video.codec": "libsvtav1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25,
+                "video.codec": "libsvtav1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        }
+    }
+}

N023/stretch3/dr_off/seed_5015/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,259 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 05:15:57"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "HelloRobot",
+                "cfg": "HelloRobotCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "HelloRobot.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HelloRobotBaseAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "HelloRobot.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "arm_action_0",
+                    "arm_action_1",
+                    "arm_action_2",
+                    "arm_action_3",
+                    "arm_action_4",
+                    "arm_action_5",
+                    "arm_action_6"
+                ],
+                "source": "HelloRobotIKAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "HelloRobot.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_pos",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_vel",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
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N023/stretch3/dr_off/seed_5015/stationassembly/000/sim_info/0/actions.npz

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+size 444352

N023/stretch3/dr_off/seed_5015/stationassembly/000/sim_info/0/scene_snapshot.json

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+        "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
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N023/stretch3/dr_off/seed_5015/stationassembly/000/sim_info/magicsim_manifest.json

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+    "generated": {
+        "time": "2026-11-10 05:16:25"
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+        "sim_dt": 0.005,
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+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
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+        "nan_policy": "from_raw",
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+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
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