add N028/sawyer_umi/dr_off/seed_1035

N028/sawyer_umi/dr_off/seed_1035/data/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the control panel and turn the big knob to the mark the person is pointing at.'; expected 'Go to the control panel and turn the big knob to the mark the person is pointing at.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1970 rows vs ceil(3939/2) = 1970"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 61..3999, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "24.61 MB, 1970 frames at 25 fps, mean luma 66..149, std 45, new picture 1969x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1970 vs 1970"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "27.33 MB, 1970 frames at 25 fps, mean luma 104..143, std 30, new picture 1969x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1970 vs 1970"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "mobiletooltask/000/sim_info"
+  }
+ }
+}

N028/sawyer_umi/dr_off/seed_1035/data/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n028_saw_off_1035/out/data  task=N028  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n028_saw_off_1035/out/data/mobiletooltask/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1970  videos 2  robot_type RidgebackSawyerUmiCfg
+[PASS] codebase v2.1: v2.1
+[PASS] dataset fps = 25: info.fps 25
+(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only)
+[PASS] parquet episodes: 1 files, info.total_episodes=1
+--- episode file episode_000000.parquet: 1970 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']
+[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the control panel and turn the big knob to the mark the person is pointing at.'; expected 'Go to the control panel and turn the big knob to the mark the person is pointing at.'
+rows 1970 at dataset fps 25 = 78.80 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1970 rows vs ceil(3939/2) = 1970
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3999, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 24.61 MB, 1970 frames at 25 fps, mean luma 66..149, std 45, new picture 1969x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1970 vs 1970
+[PASS] video observation.images.wrist decodes, 640x480, not black: 27.33 MB, 1970 frames at 25 fps, mean luma 104..143, std 30, new picture 1969x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1970 vs 1970
+parquet size 1.75 MB
+[PASS] sim_info present: mobiletooltask/000/sim_info
+dataset size 53.92 MB; whole cell dir 55.0 MB
+RESULT: ALL PASS

N028/sawyer_umi/dr_off/seed_1035/data/mobiletooltask/000/completed/0.json

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

N028/sawyer_umi/dr_off/seed_1035/data/mobiletooltask/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4398eb3e4f973a09a992a930dc6feba5f2f597eedbc9ef10e98e02e1594f05d7
+size 1749494

N028/sawyer_umi/dr_off/seed_1035/data/mobiletooltask/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the control panel and turn the big knob to the mark the person is pointing at."], "length": 1970, "magicsim/control_steps": 3939, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table a. There are a large gray table a and a medium dial console. The gray table a is to the right of the dial console. The dial console is on top of the gray table a. The dial console is to the left of the gray table a. The scene is viewed from front, at table height."}

N028/sawyer_umi/dr_off/seed_1035/data/mobiletooltask/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
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N028/sawyer_umi/dr_off/seed_1035/data/mobiletooltask/000/lerobot_v21/meta/extra/episode_000000.json

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+     "model": "ridgebacksawyer_umi",
+     "type": "mobilemanip",
+     "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper",
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+   "background": {
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+    "kind": "background",
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+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1000.0,
+    "ambient": "dim"
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+   "effects": [],
+   "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table a. There are a large gray table a and a medium dial console. The gray table a is to the right of the dial console. The dial console is on top of the gray table a. The dial console is to the left of the gray table a. The scene is viewed from front, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n[dial console]        [table a]\n\n\n\n\n\n\n\n        [robot]"
+  },
+  "task": {
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+   "instruction": "Go to the control panel and turn the big knob to the mark the person is pointing at.",
+   "template_id": -1,
+   "slots": {
+    "obj": null,
+    "support": null
+   },
+   "generic_instruction": "Mobiletooltask the object.",
+   "task_id": "N028",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {}
+ },
+ "depth_range": [
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+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N028/sawyer_umi/dr_off/seed_1035/data/mobiletooltask/000/lerobot_v21/meta/info.json

@@ -0,0 +1,978 @@
+{
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+                "frame0.pos_z",
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+                "frame0.quat_x",
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+                "dummy_base_revolute_z_joint",
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+                "right_j1",
+                "right_j2",
+                "right_j3",
+                "right_j4",
+                "right_j5",
+                "right_j6",
+                "right_gripper_l_finger_joint",
+                "right_gripper_r_finger_joint",
+                "gripper_0",
+                "gripper_1"
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+                "right_j1",
+                "right_j2",
+                "right_j3",
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+                "right_gripper_l_finger_joint",
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+                "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
+            }
+        }
+    }
+}

N028/sawyer_umi/dr_off/seed_1035/data/mobiletooltask/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,264 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-07 21:16:00"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "RidgebackSawyerUmi",
+                "cfg": "RidgebackSawyerUmiCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HolonomicAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "frame0.pos_x",
+                    "frame0.pos_y",
+                    "frame0.pos_z",
+                    "frame0.quat_w",
+                    "frame0.quat_x",
+                    "frame0.quat_y",
+                    "frame0.quat_z"
+                ],
+                "source": "PinkInverseKinematicsAction",
+                "names_source": "pink_layout"
+            },
+            {
+                "name": "RidgebackSawyerUmi.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
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+                    "dummy_base_prismatic_y_joint",
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+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
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+                "names_source": "joint_names"
+            },
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+                "end": 15,
+                "names": [
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+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
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+        "segments": [
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+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
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+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
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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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+            "observation.images.head",
+            "observation.images.wrist"
+        ],
+        "columns": [
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+            "action.command",
+            "action_is_hold",
+            "collect_info",
+            "episode_index",
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+            "extra.reward",
+            "frame_index",
+            "index",
+            "narration",
+            "next.done",
+            "next.truncated",
+            "observation.eef_pose",
+            "observation.environment_state",
+            "observation.images.head",
+            "observation.images.wrist",
+            "observation.joint_vel",
+            "observation.state",
+            "sim_step_idx",
+            "task_index",
+            "timestamp"
+        ]
+    },
+    "generated_run": {
+        "run_id": "mobiletooltask/000",
+        "task_type": "MobileToolTask"
+    }
+}

N028/sawyer_umi/dr_off/seed_1035/data/mobiletooltask/000/lerobot_v21/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Go to the control panel and turn the big knob to the mark the person is pointing at."}

N028/sawyer_umi/dr_off/seed_1035/data/mobiletooltask/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

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+oid sha256:3e65862125902fde1c816598f99a5f0029c0b9b64f7bd5942df7bc0a63479290
+size 24614616

N028/sawyer_umi/dr_off/seed_1035/data/mobiletooltask/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

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N028/sawyer_umi/dr_off/seed_1035/data/mobiletooltask/000/run_meta.json

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+{
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+    "created": "2026-11-07 21:02:39",
+    "num_envs": 1,
+    "session_id": null,
+    "record_config": {
+        "output_dir": "/mnt/scratch/xc536_atomic/n028_saw_off_1035/out/data",
+        "formats": [
+            "lerobot_v21",
+            "sim_info"
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+        "clear_buffer_on_failure": true,
+        "lerobot": {
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+        }
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+                "use_fabric": false,
+                "decimation": 4,
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+                "seed": 1035,
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+                    "enable_global_illumination": false,
+                    "enable_translucency": false,
+                    "enable_dl_denoiser": false
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+                        "arm_action": "ik_pink",
+                        "eef_action": "binary"
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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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+                            "type": "ridgebacksawyer_umi",
+                            "enable": true,
+                            "ik_num_instances": 1,
+                            "ik_batch_size": 1,
+                            "ik_num_seeds": 32,
+                            "ik_max_goalset": 64,
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+                            "enable": true,
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+                            "max_attempts": 6,
+                            "batch_size": 1,
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+                            "type": "nav",
+                            "dwb_type": "dwb_holonomic",
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+                                "debug": false,
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+                                "num_vy_samples": 7,
+                                "num_yaw_samples": 7,
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+                    "final_wait_ticks": 150,
+                    "plan": [
+                        {
+                            "name": "nav_A",
+                            "skill": "NavToStation",
+                            "station": "A"
+                        },
+                        {
+                            "name": "turn_knob",
+                            "skill": "ToolScript",
+                            "script": "turn_knob"
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+                "formats": [
+                    "lerobot_v21",
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+                    "plan": [
+                        {
+                            "name": "nav_A",
+                            "skill": "NavToStation",
+                            "station": "A"
+                        },
+                        {
+                            "name": "turn_knob",
+                            "skill": "ToolScript",
+                            "script": "turn_knob"
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+        "env_string": "DialTurnEnv-V0",
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+            "medium": {
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+                        "frame": [
+                            1.0,
+                            0.3,
+                            20.0
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+        "visual_dr": {
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+                "Person"
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+    "git_sha": "ab32a6159bbbbaadb88109b7fd60e3ffcf42c934",
+    "collect_runtime": {
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+    }
+}

N028/sawyer_umi/dr_off/seed_1035/data/mobiletooltask/000/sim_info/0/actions.npz

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+version https://git-lfs.github.com/spec/v1
+oid sha256:a16df4df5bd696b55e3d18708c42037c191a5d9b06105e50ec236c179573dfca
+size 284931

N028/sawyer_umi/dr_off/seed_1035/data/mobiletooltask/000/sim_info/0/scene_snapshot.json

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+{
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+    "timing": {
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+        "decimation": 4
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+    "restore_interface": {
+        "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
+    },
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+                        {
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+                    "/scratch/xc536/magicsim_atomic/MagicSim/Assets/Avatar/Medical/F_Medical_01/F_Medical_01.usd"
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+                    "Hip",
+                    "Pelvis",
+                    "L_Thigh",
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+                    "L_ToeBase",
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+                    "L_CalfTwist01",
+                    "L_CalfTwist02",
+                    "L_KneeShareBone",
+                    "L_ThighTwist01",
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+                    "R_Calf",
+                    "R_KneeShareBone",
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+                    "R_BigToe1",
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+                    "R_RingToe1",
+                    "R_IndexToe1",
+                    "R_MidToe1",
+                    "R_ToeBaseShareBone",
+                    "R_CalfTwist01",
+                    "R_CalfTwist02",
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+                    "L_Clavicle",
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+                    "L_ForearmTwist01",
+                    "L_ForearmTwist02",
+                    "L_ElbowShareBone",
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+                    "L_UpperarmTwist02",
+                    "L_RibsTwist",
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+                    "R_RibsTwist",
+                    "R_Breast",
+                    "R_Clavicle",
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+                    "R_Forearm",
+                    "R_ElbowShareBone",
+                    "R_ForearmTwist01",
+                    "R_ForearmTwist02",
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+                    "R_Ring1",
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+                    "R_Pinky1",
+                    "R_Pinky2",
+                    "R_Pinky3",
+                    "R_UpperarmTwist01",
+                    "R_UpperarmTwist02"
+                ],
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+                    "asset": [
+                        "usd",
+                        "/scratch/xc536/magicsim_atomic/MagicSim/Assets/Avatar/Medical/F_Medical_01/F_Medical_01.usd"
+                    ],
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+                            "PathPoints": [],
+                            "lookAround": 0.0,
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+                            "joint_names": [
+                                "RL_BoneRoot",
+                                "RL_BoneRoot/Hip",
+                                "RL_BoneRoot/Hip/Pelvis",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBaseShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_PinkyToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_RingToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_MidToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_IndexToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_BigToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_CalfTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_CalfTwist01/L_CalfTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_KneeShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_ThighTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_ThighTwist01/L_ThighTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_KneeShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_BigToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_PinkyToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_RingToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_IndexToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_MidToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBaseShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_CalfTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_CalfTwist01/R_CalfTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_ThighTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_ThighTwist01/R_ThighTwist02",
+                                "RL_BoneRoot/Hip/Waist",
+                                "RL_BoneRoot/Hip/Waist/Spine01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01/Tongue02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01/Tongue02/Tongue03",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Teeth02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/R_Eye",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/L_Eye",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/UpperJaw",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/UpperJaw/Teeth01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ForearmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ForearmTwist01/L_ForearmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ElbowShareBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1/L_Pinky2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1/L_Pinky2/L_Pinky3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1/L_Ring2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1/L_Ring2/L_Ring3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1/L_Mid2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1/L_Mid2/L_Mid3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1/L_Index2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1/L_Index2/L_Index3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1/L_Thumb2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1/L_Thumb2/L_Thumb3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_UpperarmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_UpperarmTwist01/L_UpperarmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_RibsTwist",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_RibsTwist/L_Breast",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_RibsTwist",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_RibsTwist/R_Breast",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ElbowShareBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ForearmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ForearmTwist01/R_ForearmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Ring1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Ring1/R_Ring2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Ring1/R_Ring2/R_Ring3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1/R_Mid2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1/R_Mid2/R_Mid3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Thumb1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Thumb1/R_Thumb2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Thumb1/R_Thumb2/R_Thumb3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Index1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Index1/R_Index2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Index1/R_Index2/R_Index3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Pinky1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Pinky1/R_Pinky2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Pinky1/R_Pinky2/R_Pinky3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_UpperarmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_UpperarmTwist01/R_UpperarmTwist02"
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+            }
+        }
+    }
+}

N028/sawyer_umi/dr_off/seed_1035/data/mobiletooltask/000/sim_info/0/sim_states.npz

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+size 705073

N028/sawyer_umi/dr_off/seed_1035/data/mobiletooltask/000/sim_info/magicsim_manifest.json

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+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-07 21:16:24"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "RidgebackSawyerUmi",
+                "cfg": "RidgebackSawyerUmiCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HolonomicAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "frame0.pos_x",
+                    "frame0.pos_y",
+                    "frame0.pos_z",
+                    "frame0.quat_w",
+                    "frame0.quat_x",
+                    "frame0.quat_y",
+                    "frame0.quat_z"
+                ],
+                "source": "PinkInverseKinematicsAction",
+                "names_source": "pink_layout"
+            },
+            {
+                "name": "RidgebackSawyerUmi.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
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+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.gripper_pos",
+                "start": 13,
+                "end": 15,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
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+        "segments": [
+            {
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+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
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+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
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+    },
+    "generated_run": {
+        "run_id": "mobiletooltask/000",
+        "task_type": "MobileToolTask"
+    }
+}