add 33 staged episodes

N032/sawyer_umi/dr_off/seed_1010/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: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "2717 rows vs ceil(5433/2) = 2717"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 101..5533, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "32.04 MB, 2717 frames at 25 fps, mean luma 97..149, std 27, new picture 2716x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "2717 vs 2717"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "50.36 MB, 2717 frames at 25 fps, mean luma 108..176, std 25, new picture 2716x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "2717 vs 2717"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "rec/stationpuzzlexr/000/sim_info"
+  }
+ }
+}

N032/sawyer_umi/dr_off/seed_1010/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n032_saw_off_1010/out  task=N032  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n032_saw_off_1010/out/rec/stationpuzzlexr/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 2717  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: 2717 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: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'
+rows 2717 at dataset fps 25 = 108.68 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2717 rows vs ceil(5433/2) = 2717
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5533, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 32.04 MB, 2717 frames at 25 fps, mean luma 97..149, std 27, new picture 2716x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 2717 vs 2717
+[PASS] video observation.images.wrist decodes, 640x480, not black: 50.36 MB, 2717 frames at 25 fps, mean luma 108..176, std 25, new picture 2716x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 2717 vs 2717
+parquet size 3.65 MB
+[PASS] sim_info present: rec/stationpuzzlexr/000/sim_info
+dataset size 86.25 MB; whole cell dir 87.9 MB
+RESULT: ALL PASS

N032/sawyer_umi/dr_off/seed_1010/rec/stationpuzzlexr/000/completed/0.json

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

N032/sawyer_umi/dr_off/seed_1010/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57d7eaa4dfe1e243186874d1475105b569802beaffdd17fbeca192dd36c7647f
+size 3645268

N032/sawyer_umi/dr_off/seed_1010/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap."], "length": 2717, "magicsim/control_steps": 5433, "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 B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is in front of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, at table height."}

N032/sawyer_umi/dr_off/seed_1010/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
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N032/sawyer_umi/dr_off/seed_1010/rec/stationpuzzlexr/000/lerobot_v21/meta/extra/episode_000000.json

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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 B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is in front of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n[cand O]le]\n\n\n\n                  [picture cap]\n\n\n\n                        [robot]"
+  },
+  "task": {
+   "task_type": "StationPuzzleXR",
+   "instruction": "Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.",
+   "template_id": -1,
+   "slots": {
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+    "support": null
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+   "generic_instruction": "Stationpuzzlexr the 1.5291444355492445.",
+   "task_id": "N032",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {}
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+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N032/sawyer_umi/dr_off/seed_1010/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json

@@ -0,0 +1,331 @@
+{
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N032/sawyer_umi/dr_off/seed_1010/rec/stationpuzzlexr/000/lerobot_v21/meta/magicsim_manifest.json

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N032/sawyer_umi/dr_off/seed_1010/rec/stationpuzzlexr/000/lerobot_v21/meta/tasks.jsonl

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N032/sawyer_umi/dr_off/seed_1010/rec/stationpuzzlexr/000/sim_info/0/actions.npz

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+size 790078

N032/sawyer_umi/dr_off/seed_1010/rec/stationpuzzlexr/000/sim_info/0/scene_snapshot.json

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N032/sawyer_umi/dr_off/seed_1010/rec/stationpuzzlexr/000/sim_info/magicsim_manifest.json

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+}

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+      ],
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+      "phase": "done",
+      "state": "success: task sequence complete",
+      "check": {
+        "tile": {
+          "held": false,
+          "dist_wrist": 1.108,
+          "err_across": -0.0001,
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+          "yaw_err_deg": 0.1,
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+          "overlap": false,
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+          "in_notch": true
+        },
+        "released": true,
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+      "planner_seeds": "default"
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+  ],
+  "error": null,
+  "collect": {
+    "task": "N032",
+    "robot": "sawyer_umi",
+    "visual_dr": false,
+    "env": {
+      "MMB_COLLECT": "1",
+      "MMB_TASK_ID": "N032",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "0"
+    },
+    "cameras": {
+      "head": {
+        "link": "Robot_0/head",
+        "pos": [
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+        ],
+        "ori": [
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+        ],
+        "focal_length": 2.0,
+        "horizontal_aperture": 3.6,
+        "vertical_aperture": 2.7
+      },
+      "wrist": {
+        "link": "Robot_0/right_electric_gripper_base",
+        "pos": [
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+        ],
+        "ori": [
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+        ],
+        "focal_length": 1.8,
+        "horizontal_aperture": 3.6,
+        "vertical_aperture": 2.7
+      }
+    },
+    "resolution": [
+      640,
+      480
+    ],
+    "camera_hz": 25,
+    "record": {
+      "formats": [
+        "lerobot_v21",
+        "sim_info"
+      ],
+      "clear_buffer_on_failure": true,
+      "lerobot": {
+        "subsample_every": 2
+      }
+    }
+  },
+  "review_cameras": [],
+  "policy_obs_signature": [
+    "/camera_info[0]/rgb[0]:(480, 640, 4):uint8",
+    "/camera_info[1]/rgb[0]:(480, 640, 4):uint8",
+    "/robot_state[0]/RidgebackSawyerUmi/base_ang_vel:(1, 3):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/base_heading_quat:(1, 4):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/base_lin_vel:(1, 3):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/base_pos:(1, 3):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/base_quat:(1, 4):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/eef_pos:(1, 3):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/eef_quat:(1, 4):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/eef_relative_pos:(1, 3):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/eef_relative_quat:(1, 4):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/eef_relatvie_pos_arm_base:(1, 3):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/gripper_pos:(1, 2):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/joint_effort:(1, 13):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/joint_pos:(1, 13):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/joint_vel:(1, 13):torch.float32"
+  ],
+  "n_success": 1,
+  "elapsed_s": 1391.9,
+  "record_drain": {
+    "drain_ok": true,
+    "committed": 1,
+    "save_errors": {},
+    "drain_s": 41.8
+  }
+}

N032/sawyer_umi/dr_off/seed_1011/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: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "2715 rows vs ceil(5430/2) = 2715"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 101..5529, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "31.85 MB, 2715 frames at 25 fps, mean luma 103..150, std 27, new picture 2714x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "2715 vs 2715"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "50.54 MB, 2715 frames at 25 fps, mean luma 107..175, std 25, new picture 2714x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "2715 vs 2715"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "rec/stationpuzzlexr/000/sim_info"
+  }
+ }
+}

N032/sawyer_umi/dr_off/seed_1011/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n032_saw_off_1011/out  task=N032  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n032_saw_off_1011/out/rec/stationpuzzlexr/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 2715  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: 2715 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: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'
+rows 2715 at dataset fps 25 = 108.60 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2715 rows vs ceil(5430/2) = 2715
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5529, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 31.85 MB, 2715 frames at 25 fps, mean luma 103..150, std 27, new picture 2714x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 2715 vs 2715
+[PASS] video observation.images.wrist decodes, 640x480, not black: 50.54 MB, 2715 frames at 25 fps, mean luma 107..175, std 25, new picture 2714x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 2715 vs 2715
+parquet size 3.68 MB
+[PASS] sim_info present: rec/stationpuzzlexr/000/sim_info
+dataset size 86.28 MB; whole cell dir 88.0 MB
+RESULT: ALL PASS

N032/sawyer_umi/dr_off/seed_1011/rec/stationpuzzlexr/000/completed/0.json

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

N032/sawyer_umi/dr_off/seed_1011/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet

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+version https://git-lfs.github.com/spec/v1
+oid sha256:7451ed5a7b8e5efa6129a506dfeecbb8874e6aca0666901bf6ef125651a9324f
+size 3676524

N032/sawyer_umi/dr_off/seed_1011/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap."], "length": 2715, "magicsim/control_steps": 5430, "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 B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is in front of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, at table height."}

N032/sawyer_umi/dr_off/seed_1011/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl

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N032/sawyer_umi/dr_off/seed_1011/rec/stationpuzzlexr/000/lerobot_v21/meta/extra/episode_000000.json

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+     "cat_name": "cand_O",
+     "inst_id": 1,
+     "noun": "cand O",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "rigid",
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+     "subject": "table_B_1",
+     "relation": "in_front_of",
+     "object": "cand_O_1"
+    },
+    {
+     "subject": "board_0_1",
+     "relation": "right_of",
+     "object": "board_4_1"
+    },
+    {
+     "subject": "board_1_1",
+     "relation": "in_front_of",
+     "object": "board_4_1"
+    },
+    {
+     "subject": "board_2_1",
+     "relation": "behind",
+     "object": "board_4_1"
+    },
+    {
+     "subject": "board_3_1",
+     "relation": "right_of",
+     "object": "board_1_1"
+    },
+    {
+     "subject": "board_4_1",
+     "relation": "behind",
+     "object": "board_1_1"
+    },
+    {
+     "subject": "tile_1",
+     "relation": "on_top_of",
+     "object": "table_B_1"
+    },
+    {
+     "subject": "tile_1",
+     "relation": "right_of",
+     "object": "table_B_1"
+    },
+    {
+     "subject": "cand_O_1",
+     "relation": "on_top_of",
+     "object": "table_B_1"
+    },
+    {
+     "subject": "cand_O_1",
+     "relation": "behind",
+     "object": "table_B_1"
+    }
+   ],
+   "cameras": [
+    {
+     "name": "head",
+     "intrinsics": {
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+        320.0
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+        0.0,
+        1.0
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+      "fov_h_deg": 83.97442499163331,
+      "resolution": [
+       640,
+       480
+      ]
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+     "pos_robot": [
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+      0.07593199313446967,
+      -0.09499997554427357
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+     "viewpoint": "front, at table height",
+     "extrinsics": {
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+       -0.2032392724571752,
+       -0.08737481710326404
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+    },
+    {
+     "name": "wrist",
+     "intrinsics": {
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+        320.0
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+        320.0,
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+      "resolution": [
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+       480
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+      -0.01999997597280747
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+     "viewpoint": "front, at table height",
+     "extrinsics": {
+      "R": [
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+        1.0,
+        -1.4782795217992896e-16
+       ],
+       [
+        1.0,
+        0.0,
+        2.5363269588459423e-17
+       ],
+       [
+        2.5363269588459423e-17,
+        -1.4782795217992896e-16,
+        -1.0
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+      "t": [
+       4.4348384662715026e-18,
+       -0.05979999899864197,
+       0.029999999329447746
+      ]
+     }
+    }
+   ],
+   "robots": [
+    {
+     "name": "RidgebackSawyerUmi",
+     "model": "ridgebacksawyer_umi",
+     "type": "mobilemanip",
+     "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
+       -3.4,
+       -2.2,
+       0.05
+      ],
+      "ori": [
+       0.9396926164627075,
+       0.0,
+       0.0,
+       0.3420201539993286
+      ]
+     },
+     "facing_yaw_deg": 40.000001288448495,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1000.0,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is in front of the cand O. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is behind the gray board 4. The gray board 3 is to the right of the gray board 1. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is behind the gray table B. The scene is viewed from front, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n[cand O]e]\n\n\n\n                  [picture cap]\n\n\n\n                        [robot]"
+  },
+  "task": {
+   "task_type": "StationPuzzleXR",
+   "instruction": "Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.548227303013129,
+    "support": null
+   },
+   "generic_instruction": "Stationpuzzlexr the 1.548227303013129.",
+   "task_id": "N032",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {}
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N032/sawyer_umi/dr_off/seed_1011/rec/stationpuzzlexr/000/lerobot_v21/meta/info.json

@@ -0,0 +1,331 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "RidgebackSawyerUmiCfg",
+    "total_episodes": 1,
+    "total_frames": 2715,
+    "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",
+                "frame0.pos_x",
+                "frame0.pos_y",
+                "frame0.pos_z",
+                "frame0.quat_w",
+                "frame0.quat_x",
+                "frame0.quat_y",
+                "frame0.quat_z",
+                "gripper"
+            ]
+        },
+        "action_is_hold": {
+            "dtype": "bool",
+            "shape": [
+                11
+            ],
+            "names": null
+        },
+        "observation.state": {
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+            "shape": [
+                15
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+            "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",
+                "gripper_0",
+                "gripper_1"
+            ]
+        },
+        "observation.joint_vel": {
+            "dtype": "float32",
+            "shape": [
+                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"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
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+            "names": null
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+        "observation.environment_state": {
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+            "names": [
+                "object_pose.board_0.0",
+                "object_pose.board_0.1",
+                "object_pose.board_0.2",
+                "object_pose.board_0.3",
+                "object_pose.board_0.4",
+                "object_pose.board_0.5",
+                "object_pose.board_0.6",
+                "object_pose.board_1.0",
+                "object_pose.board_1.1",
+                "object_pose.board_1.2",
+                "object_pose.board_1.3",
+                "object_pose.board_1.4",
+                "object_pose.board_1.5",
+                "object_pose.board_1.6",
+                "object_pose.board_2.0",
+                "object_pose.board_2.1",
+                "object_pose.board_2.2",
+                "object_pose.board_2.3",
+                "object_pose.board_2.4",
+                "object_pose.board_2.5",
+                "object_pose.board_2.6",
+                "object_pose.board_3.0",
+                "object_pose.board_3.1",
+                "object_pose.board_3.2",
+                "object_pose.board_3.3",
+                "object_pose.board_3.4",
+                "object_pose.board_3.5",
+                "object_pose.board_3.6",
+                "object_pose.board_4.0",
+                "object_pose.board_4.1",
+                "object_pose.board_4.2",
+                "object_pose.board_4.3",
+                "object_pose.board_4.4",
+                "object_pose.board_4.5",
+                "object_pose.board_4.6",
+                "object_pose.cand_O.0",
+                "object_pose.cand_O.1",
+                "object_pose.cand_O.2",
+                "object_pose.cand_O.3",
+                "object_pose.cand_O.4",
+                "object_pose.cand_O.5",
+                "object_pose.cand_O.6",
+                "object_pose.picture.0",
+                "object_pose.picture.1",
+                "object_pose.picture.2",
+                "object_pose.picture.3",
+                "object_pose.picture.4",
+                "object_pose.picture.5",
+                "object_pose.picture.6",
+                "object_pose.picture_bar.0",
+                "object_pose.picture_bar.1",
+                "object_pose.picture_bar.2",
+                "object_pose.picture_bar.3",
+                "object_pose.picture_bar.4",
+                "object_pose.picture_bar.5",
+                "object_pose.picture_bar.6",
+                "object_pose.picture_cap.0",
+                "object_pose.picture_cap.1",
+                "object_pose.picture_cap.2",
+                "object_pose.picture_cap.3",
+                "object_pose.picture_cap.4",
+                "object_pose.picture_cap.5",
+                "object_pose.picture_cap.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",
+                "object_pose.table_B.0",
+                "object_pose.table_B.1",
+                "object_pose.table_B.2",
+                "object_pose.table_B.3",
+                "object_pose.table_B.4",
+                "object_pose.table_B.5",
+                "object_pose.table_B.6",
+                "object_pose.tile.0",
+                "object_pose.tile.1",
+                "object_pose.tile.2",
+                "object_pose.tile.3",
+                "object_pose.tile.4",
+                "object_pose.tile.5",
+                "object_pose.tile.6"
+            ]
+        },
+        "action.command": {
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+            "shape": [
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+            "names": null
+        },
+        "action.applied": {
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+            "shape": [
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+            "names": null
+        },
+        "narration": {
+            "dtype": "string",
+            "shape": [
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+            "names": null
+        },
+        "collect_info": {
+            "dtype": "string",
+            "shape": [
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+            "names": null
+        },
+        "extra.reward": {
+            "dtype": "float32",
+            "shape": [
+                1
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+            "names": null
+        },
+        "extra.action_info": {
+            "dtype": "string",
+            "shape": [
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+            "names": null
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+        "next.truncated": {
+            "dtype": "bool",
+            "shape": [
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+            "names": null
+        },
+        "sim_step_idx": {
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+            "shape": [
+                1
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+            "names": null
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
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+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
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+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
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+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
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+            "names": null
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+        "task_index": {
+            "dtype": "int64",
+            "shape": [
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+            "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
+            }
+        }
+    }
+}

N032/sawyer_umi/dr_off/seed_1011/rec/stationpuzzlexr/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,264 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 02:19:41"
+    },
+    "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"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_pos",
+                "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"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "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": {
+            "intrinsics": {
+                "K": [
+                    [
+                        355.55555555555554,
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N032/sawyer_umi/dr_off/seed_1011/rec/stationpuzzlexr/000/sim_info/0/actions.npz

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N032/sawyer_umi/dr_off/seed_1011/rec/stationpuzzlexr/000/sim_info/magicsim_manifest.json

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+}

N032/sawyer_umi/dr_off/seed_1011/report.episodes.jsonl

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N032/sawyer_umi/dr_off/seed_1011/report.json

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+          0.0598,
+          0.0,
+          0.03
+        ],
+        "ori": [
+          180.0,
+          0.0,
+          -90.0
+        ],
+        "focal_length": 1.8,
+        "horizontal_aperture": 3.6,
+        "vertical_aperture": 2.7
+      }
+    },
+    "resolution": [
+      640,
+      480
+    ],
+    "camera_hz": 25,
+    "record": {
+      "formats": [
+        "lerobot_v21",
+        "sim_info"
+      ],
+      "clear_buffer_on_failure": true,
+      "lerobot": {
+        "subsample_every": 2
+      }
+    }
+  },
+  "review_cameras": [],
+  "policy_obs_signature": [
+    "/camera_info[0]/rgb[0]:(480, 640, 4):uint8",
+    "/camera_info[1]/rgb[0]:(480, 640, 4):uint8",
+    "/robot_state[0]/RidgebackSawyerUmi/base_ang_vel:(1, 3):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/base_heading_quat:(1, 4):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/base_lin_vel:(1, 3):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/base_pos:(1, 3):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/base_quat:(1, 4):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/eef_pos:(1, 3):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/eef_quat:(1, 4):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/eef_relative_pos:(1, 3):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/eef_relative_quat:(1, 4):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/eef_relatvie_pos_arm_base:(1, 3):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/gripper_pos:(1, 2):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/joint_effort:(1, 13):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/joint_pos:(1, 13):torch.float32",
+    "/robot_state[0]/RidgebackSawyerUmi/joint_vel:(1, 13):torch.float32"
+  ],
+  "n_success": 1,
+  "elapsed_s": 1436.5,
+  "record_drain": {
+    "drain_ok": true,
+    "committed": 1,
+    "save_errors": {},
+    "drain_s": 41.3
+  }
+}

N032/sawyer_umi/dr_off/seed_1012/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: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "2652 rows vs ceil(5303/2) = 2652"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 101..5403, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "31.04 MB, 2652 frames at 25 fps, mean luma 94..150, std 27, new picture 2651x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "2652 vs 2652"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "49.18 MB, 2652 frames at 25 fps, mean luma 109..180, std 25, new picture 2651x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "2652 vs 2652"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "rec/stationpuzzlexr/000/sim_info"
+  }
+ }
+}

N032/sawyer_umi/dr_off/seed_1012/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n032_saw_off_1012/out  task=N032  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n032_saw_off_1012/out/rec/stationpuzzlexr/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 2652  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: 2652 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: 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'; expected 'Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap.'
+rows 2652 at dataset fps 25 = 106.08 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2652 rows vs ceil(5303/2) = 2652
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5403, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 31.04 MB, 2652 frames at 25 fps, mean luma 94..150, std 27, new picture 2651x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 2652 vs 2652
+[PASS] video observation.images.wrist decodes, 640x480, not black: 49.18 MB, 2652 frames at 25 fps, mean luma 109..180, std 25, new picture 2651x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 2652 vs 2652
+parquet size 3.38 MB
+[PASS] sim_info present: rec/stationpuzzlexr/000/sim_info
+dataset size 83.79 MB; whole cell dir 85.4 MB
+RESULT: ALL PASS

N032/sawyer_umi/dr_off/seed_1012/rec/stationpuzzlexr/000/completed/0.json

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

N032/sawyer_umi/dr_off/seed_1012/rec/stationpuzzlexr/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd513341ea34367d73fed1dd7460690e9158371a06cb7898b27c98cde624c080
+size 3377095

N032/sawyer_umi/dr_off/seed_1012/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Look at the gap in the puzzle, go to the rack and pick the piece that fills it, then bring it back and fit it into the gap."], "length": 2652, "magicsim/control_steps": 5303, "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 B. There are a large gray table A, a large gray table B, a small gray board 0, a small gray board 1, a small gray board 2, a small gray board 3, a small gray board 4, a small gray picture, a small gray picture bar, a small gray picture cap, a small tile and a small cand O. The gray table B is to the left of the tile. The gray board 0 is to the right of the gray board 4. The gray board 1 is in front of the gray board 4. The gray board 2 is to the left of the gray board 4. The gray board 3 is to the right of the gray board 1. The gray board 4 is behind the gray board 1. The tile is on top of the gray table B. The tile is to the right of the gray table B. The cand O is on top of the gray table B. The cand O is to the left of the gray table B. The scene is viewed from front-right, at table height."}

N032/sawyer_umi/dr_off/seed_1012/rec/stationpuzzlexr/000/lerobot_v21/meta/episodes_stats.jsonl

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