add N028/sawyer_umi/dr_off/seed_1037

N028/sawyer_umi/dr_off/seed_1037/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": "1972 rows vs ceil(3944/2) = 1972"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 61..4003, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "23.97 MB, 1972 frames at 25 fps, mean luma 70..148, std 45, new picture 1971x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1972 vs 1972"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "26.72 MB, 1972 frames at 25 fps, mean luma 105..141, std 32, new picture 1971x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1972 vs 1972"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "mobiletooltask/000/sim_info"
+  }
+ }
+}

N028/sawyer_umi/dr_off/seed_1037/data/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n028_saw_off_1037/out/data  task=N028  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n028_saw_off_1037/out/data/mobiletooltask/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1972  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: 1972 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 1972 at dataset fps 25 = 78.88 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1972 rows vs ceil(3944/2) = 1972
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4003, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 23.97 MB, 1972 frames at 25 fps, mean luma 70..148, std 45, new picture 1971x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1972 vs 1972
+[PASS] video observation.images.wrist decodes, 640x480, not black: 26.72 MB, 1972 frames at 25 fps, mean luma 105..141, std 32, new picture 1971x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1972 vs 1972
+parquet size 1.79 MB
+[PASS] sim_info present: mobiletooltask/000/sim_info
+dataset size 52.72 MB; whole cell dir 53.8 MB
+RESULT: ALL PASS

N028/sawyer_umi/dr_off/seed_1037/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_1037/data/mobiletooltask/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:711cdc88add4bc960d1f97249258ab1af9b9222f5aedf88543085714cd175ad3
+size 1793963

N028/sawyer_umi/dr_off/seed_1037/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": 1972, "magicsim/control_steps": 3944, "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_1037/data/mobiletooltask/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
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N028/sawyer_umi/dr_off/seed_1037/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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+    "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]\n\n\n\n\n\n\n\n[robot]"
+  },
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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_1037/data/mobiletooltask/000/lerobot_v21/meta/info.json

@@ -0,0 +1,978 @@
+{
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+                "frame0.pos_z",
+                "frame0.quat_w",
+                "frame0.quat_x",
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+                "dummy_base_revolute_z_joint",
+                "right_j0",
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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_j2",
+                "right_j3",
+                "right_j4",
+                "right_j5",
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+                "right_gripper_l_finger_joint",
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+                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
+            }
+        }
+    }
+}

N028/sawyer_umi/dr_off/seed_1037/data/mobiletooltask/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,264 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-07 21:25:28"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "RidgebackSawyerUmi",
+                "cfg": "RidgebackSawyerUmiCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ]
+            }
+        ]
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+    "timing": {
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+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
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+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.base_action",
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+                "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",
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+                "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",
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+                "end": 11,
+                "names": [
+                    "gripper"
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+                    "right_gripper_r_finger_joint"
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+                "end": 15,
+                "names": [
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+                    "gripper_1"
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+                "source": "ObservationManager",
+                "names_source": "generated"
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+                "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.wrist"
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+            "frame_index",
+            "index",
+            "narration",
+            "next.done",
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+            "observation.eef_pose",
+            "observation.environment_state",
+            "observation.images.head",
+            "observation.images.wrist",
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+            "timestamp"
+        ]
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+    "generated_run": {
+        "run_id": "mobiletooltask/000",
+        "task_type": "MobileToolTask"
+    }
+}

N028/sawyer_umi/dr_off/seed_1037/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_1037/data/mobiletooltask/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

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+size 23972467

N028/sawyer_umi/dr_off/seed_1037/data/mobiletooltask/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

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N028/sawyer_umi/dr_off/seed_1037/data/mobiletooltask/000/run_meta.json

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+{
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+    "created": "2026-11-07 21:13:02",
+    "num_envs": 1,
+    "session_id": null,
+    "record_config": {
+        "output_dir": "/mnt/scratch/xc536_atomic/n028_saw_off_1037/out/data",
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+                "use_fabric": false,
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+                    "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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+                            "ik_max_goalset": 64,
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+                    "plan": [
+                        {
+                            "name": "nav_A",
+                            "skill": "NavToStation",
+                            "station": "A"
+                        },
+                        {
+                            "name": "turn_knob",
+                            "skill": "ToolScript",
+                            "script": "turn_knob"
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+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
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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",
+        "levels": {
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+                        "frame": [
+                            1.0,
+                            0.3,
+                            20.0
+                        ]
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+        "visual_dr": {
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+                "dot_?",
+                "pointer",
+                "Person"
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+    "git_sha": "ab32a6159bbbbaadb88109b7fd60e3ffcf42c934",
+    "collect_runtime": {
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+    }
+}

N028/sawyer_umi/dr_off/seed_1037/data/mobiletooltask/000/sim_info/0/actions.npz

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+oid sha256:a47b1973ab16a666611b8bf6104ef79e6a5342025dadc47582690fdab9021335
+size 285877

N028/sawyer_umi/dr_off/seed_1037/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",
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+                    "L_ToeBaseShareBone",
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+                    "L_CalfTwist01",
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+                    "L_KneeShareBone",
+                    "L_ThighTwist01",
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+                    "R_MidToe1",
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+                    "R_CalfTwist01",
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+                    "NeckTwist02",
+                    "Head",
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+                    "L_UpperarmTwist02",
+                    "L_RibsTwist",
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+                    "R_RibsTwist",
+                    "R_Breast",
+                    "R_Clavicle",
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+                    "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": [],
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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",
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+                                "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",
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+            }
+        }
+    }
+}

N028/sawyer_umi/dr_off/seed_1037/data/mobiletooltask/000/sim_info/0/sim_states.npz

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+size 727516

N028/sawyer_umi/dr_off/seed_1037/data/mobiletooltask/000/sim_info/magicsim_manifest.json

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+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-07 21:26:12"
+    },
+    "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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+        "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"
+            },
+            {
+                "name": "RidgebackSawyerUmi.gripper_pos",
+                "start": 13,
+                "end": 15,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
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+        "dim": 13,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_vel",
+                "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"
+            }
+        ]
+    },
+    "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": {
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+    },
+    "generated_run": {
+        "run_id": "mobiletooltask/000",
+        "task_type": "MobileToolTask"
+    }
+}