add N010/go2_arm/dr_off/seed_1022

N010/go2_arm/dr_off/seed_1022/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 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head.'; expected 'Go to the tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1397 rows vs ceil(2794/2) = 1397"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 61..2853, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "5.89 MB, 1397 frames at 25 fps, mean luma 112..148, std 16, new picture 1396x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1397 vs 1397"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "27.28 MB, 1397 frames at 25 fps, mean luma 110..169, std 34, new picture 1396x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1397 vs 1397"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "record/stationhammer/000/sim_info"
+  }
+ }
+}

N010/go2_arm/dr_off/seed_1022/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/sz850_atomic/n010_go2_off_1022/out  task=N010  at verify_collect_dataset.py
+dataset root /mnt/scratch/sz850_atomic/n010_go2_off_1022/out/record/stationhammer/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1397  videos 2  robot_type Go2PlusCfg
+[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: 1397 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 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']
+[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head.'; expected 'Go to the tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head.'
+rows 1397 at dataset fps 25 = 55.88 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1397 rows vs ceil(2794/2) = 1397
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2853, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 5.89 MB, 1397 frames at 25 fps, mean luma 112..148, std 16, new picture 1396x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1397 vs 1397
+[PASS] video observation.images.wrist decodes, 640x480, not black: 27.28 MB, 1397 frames at 25 fps, mean luma 110..169, std 34, new picture 1396x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1397 vs 1397
+parquet size 2.50 MB
+[PASS] sim_info present: record/stationhammer/000/sim_info
+dataset size 35.88 MB; whole cell dir 37.3 MB
+RESULT: ALL PASS

N010/go2_arm/dr_off/seed_1022/config.yaml

@@ -0,0 +1,562 @@
+env:
+  sim:
+    device: cpu
+    use_fabric: false
+    decimation: 4
+    dt: 0.005
+    soft_resets: 2
+    scene:
+      num_envs: 1
+      env_spacing: 20
+    render:
+      rendering_mode: performance
+      enable_reflections: false
+      enable_global_illumination: false
+      enable_translucency: false
+      enable_dl_denoiser: false
+    contact_reports: true
+    physx:
+      gpu_dynamics: false
+    seed: 1022
+  robot:
+    Go2Plus:
+      name: go2plus
+      type: mobilemanip
+      common:
+        pos:
+        - - -3.5
+          - -2.3
+          - 0.42000000000000004
+        - - -2.9000000000000004
+          - -1.7
+          - 0.42000000000000004
+        ori:
+        - - 0.0
+          - 0.0
+          - -20.0
+        - - 0.0
+          - 0.0
+          - 20.0
+        initial_joint_pos: null
+      action:
+        base_action: ${oc.env:GO2PLUS_BASE_ACTION,unified}
+        arm_action: ik_curobo
+        eef_action: binary
+      reset: default
+      planner:
+        dual_mode: true
+        base_joint_names:
+        - base_x
+        - base_y
+        - base_yaw
+        - base_height
+        ik:
+          type: go2plus
+          enable: true
+          ik_num_instances: 1
+          ik_batch_size: 1
+          ik_num_seeds: 64
+          ik_position_threshold: 0.005
+          ik_rotation_threshold: 0.05
+          microbatch_wait_ms: 20.0
+          relative_to_world_frame: false
+          eef_num: 1
+          debug: false
+          seed_use_live_joint_pos: true
+        motiongen:
+          type: go2plus
+          enable: true
+          batch_size: 1
+          debug: false
+          motiongen_num_instances: 1
+          microbatch_wait_ms: 400.0
+          mode: position
+          relative_to_world_frame: false
+          eef_num: 1
+          seed_use_live_joint_pos: true
+          anchor_ik_seeds_to_current_state: false
+          num_trajopt_seeds: 1
+          num_ik_seeds: 4
+          max_attempts: 4
+          joint_limit_retry_weight: 100000000.0
+          start_state_limit_inset: 0.002
+        body:
+          type: nav
+          dwb_type: dwb_quadruped
+          dwb_quadruped:
+            device: cpu
+            dt: 0.02
+            debug: false
+            num_rollout_steps: 60
+            num_speed_samples: 11
+            num_steer_samples: 11
+            num_vx_samples: 7
+            num_vy_samples: 7
+            num_yaw_samples: 7
+            max_accel: 1.5
+            max_steer_rate: 1.5
+            max_accel_vx: 1.5
+            max_accel_vy: 1.5
+            max_yaw_accel: 1.5
+            w_goal: 6.0
+            w_path: 24.0
+            w_vel: 0.2
+            w_vy: 0.0
+            dilate_radius: 0.2
+            goal_cost_mode: path
+            room_size: 12.0
+            occupancy_update_interval: 25
+            scan_height: 0.38
+            scan_min_z: 0.15
+            scan_max_z: 0.63
+            goal_pos_threshold: 0.1
+            goal_yaw_threshold: 0.08
+            goal_yaw_hysteresis: 0.02
+            kp_goal_yaw: 4.0
+            heading_reference: path
+            turn_yaw_threshold: 0.8
+            heading_lookahead: 0.8
+            heading_min_leg: 0.35
+            route_yaw_gain: 2.0
+            min_vx: -0.35
+            max_vx: 0.35
+            min_vy: -0.25
+            max_vy: 0.25
+            min_yaw_rate: -0.8
+            max_yaw_rate: 0.8
+            dynamic_window_source: command
+            default_height: 0.39
+            safety_min_progress_speed: 0.1
+            safety_stop_distance: 0.2
+            safety_enabled: true
+            safety_deceleration: 0.5
+            safety_reaction_time: 0.5
+            safety_release_distance: 0.35
+            scan_type: 3d
+            robot_type: quadruped
+            velocity_frame: body
+          p_controller:
+            velocity_frame: body
+            nav_upgrade_distance: 0.03
+            nav_heading_target: -1
+            kp_linear_x: 3.0
+            kd_linear_x: 0.4
+            kp_linear_y: 3.0
+            kd_linear_y: 0.4
+            kp_angular: 1.5
+            kd_angular: 0.2
+            kp_angular_turning_only: 1.5
+            kd_angular_turning_only: 0.2
+            min_vel: -0.4
+            max_vel: 0.5
+            linear_dead_zone: 0.01
+            angular_dead_zone: 0.05
+        arm:
+          type: default
+        eef:
+          type: default
+      physics:
+        robot_radius: 0.5
+  camera:
+    enable_tiled: false
+    colorize_depth: false
+    head:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.8231182098388672
+        horizontal_aperture: 1.9199999570846558
+        vertical_aperture: 1.4407838582992554
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/Bodies/go2_base
+        pos:
+        - 0.332051
+        - 0.038027
+        - 0.093559
+        ori:
+        - 169.9473
+        - -88.6452
+        - 81.5985
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+    wrist:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.8517500162124634
+        horizontal_aperture: 1.9199999570846558
+        vertical_aperture: 1.4393036365509033
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/Bodies/piper_link6
+        pos:
+        - -0.074987
+        - 0.005289
+        - 0.045821
+        ori:
+        - 179.3135
+        - -20.212
+        - 88.9402
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+  nav:
+    navmesh:
+      enabled: true
+      visualize: false
+      bake_timeout_s: 180
+      agent_height_cm: 65
+      min_agent_radius_cm: 30.0
+      max_agent_radius_cm: 30.0
+      max_step_height_cm: 20
+      max_floor_slope_deg: 30
+      agent_island_radius_cm: 5
+      auto_exclude_rigid_bodies: true
+      validate_path_clearance: true
+      validate_path_window: true
+      navmesh_offset_z_m: 0
+      verbose: false
+    occupancymap:
+      cell_size: 0.05
+  scene:
+    terrain:
+      type: nav_room
+      collision: true
+      hide_top_walls: true
+      usd:
+      - $MAGICSIM_ASSETS/Room/Collected_SimpleRoom
+      annotation: Annotation
+      random: false
+      pos:
+      - 0.0
+      - 0.0
+      - 0.0
+      ori:
+      - 0.0
+      - 0.0
+      - 0.0
+      scale:
+      - 1.0
+      - 1.0
+      - 1.0
+      physics_material:
+        static_friction: 1.0
+        dynamic_friction: 1.0
+        restitution: 0.0
+        friction_combine_mode: multiply
+        restitution_combine_mode: multiply
+    background:
+      intensity:
+      - 1000
+      - 1000
+    objects:
+      table_a:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 1.2
+          - -1.8
+          - 0.28
+          ori:
+          - 0
+          - 0
+          - 0
+          scale:
+          - 0.6
+          - 0.9
+          - 0.5
+        table_a_1:
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - 0.55
+            - 0.42
+            - 0.3
+          physics:
+            type: geometry
+            collision: true
+      table_b:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 2.2
+          - 2.0
+          - 0.28
+          ori:
+          - 0
+          - 0
+          - 0
+          scale:
+          - 0.9
+          - 0.6
+          - 0.5
+        table_b_1:
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - 0.55
+            - 0.42
+            - 0.3
+          physics:
+            type: geometry
+            collision: true
+      hammer_rack:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MobileDaily/hammer_rack/Object.usda
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - - 1.2
+            - -1.8
+            - 0.53
+          - - 1.2
+            - -1.8
+            - 0.53
+          ori:
+          - - 0
+            - 0
+            - 0.0
+          - - 0
+            - 0
+            - 0.0
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+        hammer_rack_1:
+          visual: {}
+          physics:
+            type: geometry
+            collision: true
+      hammer:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MobileDaily/hammer/Object.usda
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - - 1.2
+            - -1.8
+            - 0.602
+          - - 1.2
+            - -1.8
+            - 0.602
+          ori:
+          - - 0
+            - 0
+            - 0.0
+          - - 0
+            - 0
+            - 0.0
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+        hammer_1:
+          visual: {}
+          physics:
+            type: rigid
+            collision: true
+            physics_material:
+              static_friction: 1.0
+              dynamic_friction: 1.0
+              restitution: 0.0
+      strike_block:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MobileDaily/strike_block/Object.usda
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - - 2.1900000000000004
+            - 1.99
+            - 0.531
+          - - 2.21
+            - 2.01
+            - 0.531
+          ori:
+          - - 0
+            - 0
+            - 0.0
+          - - 0
+            - 0
+            - 0.0
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+        strike_block_1:
+          visual: {}
+          physics:
+            type: rigid
+            collision: true
+            physics_material:
+              static_friction: 1.0
+              dynamic_friction: 1.0
+              restitution: 0.0
+            track_contact_forces: true
+            prepare_contact_sensor: true
+            contact_filter_prim_paths_expr:
+            - /World/envs/env_.*/dynamic/hammer/hammer_1
+task:
+  observation: {}
+  reward: {}
+  termination:
+    timeout_steps: 12000
+    success_hold_frames: 3
+    fall_height: 0.08
+    fall_tilt: 1.0
+  station:
+    level: easy
+    agent_id: a02
+    embodiment: go2_arm
+    task_version: EXT60-MobileAvatar-v3
+    execution_mode: expert_collect
+    layout:
+      table_h: 0.5
+      standoff: 0.306
+      standoff_b: 0.42
+    settle_ticks: 40
+    hold_ticks: 5
+    judge_timeout_ticks: 300
+    default_avoid: []
+    report_jsonl: /mnt/scratch/sz850_atomic/n010_go2_off_1022/out/reports.jsonl
+    carried:
+      type: rigid
+      name: hammer
+      id: 0
+    tracked:
+    - type: rigid
+      name: strike_block
+      id: 0
+    planner_seeds: lean
+    cloth_variant: null
+    record_scene_streams: true
+collect:
+  global_planner:
+    NavTo:
+      use_navmesh: true
+      use_absolute: true
+      translation_threshold: 0.12
+      rotation_threshold: 0.12
+      num_path_segments: 30
+      start_forward_offset: 0.0
+      visualize_path: false
+      carry_arm: true
+    MobileMoveL:
+      translation_threshold: 0.012
+      rotation_threshold: 0.25
+      motiongen_distance_threshold: 0.05
+      timeout_steps: 1800
+      reactive: false
+      base_pos_threshold: 0.12
+      base_rot_threshold: 0.5
+      eef_pos_threshold: 0.03
+      eef_rot_threshold: 0.3
+      waypoint_max_steps: 8
+      interp_steps: 60
+      debug: false
+      debug_viz: false
+      retry_mobile_on_locked_plan_failure: true
+      stall_release_ticks: 100
+      stall_release_factor: 5.0
+      interp_validate_target: true
+    RetractMoveL:
+      translation_threshold: 0.06
+      rotation_threshold: 0.3
+      motiongen_distance_threshold: 0.05
+      timeout_steps: 2000
+      base_pos_threshold: 0.12
+      base_rot_threshold: 0.5
+      eef_pos_threshold: 0.03
+      eef_rot_threshold: 0.3
+      base_waypoint_max_steps: 20
+      arm_waypoint_max_steps: 8
+      move_strategy_distance_threshold: 0.1
+      debug: false
+      debug_viz: false
+    ParallelGripper:
+      gripper_threshold: 0.0005
+      timeout_steps: 60
+  atomic_skill:
+    StationNav:
+      robot_id: 0
+      show_marker: false
+    NavToPose:
+      robot_id: 0
+      show_marker: false
+    Move:
+      arm_planner: MobileMoveL
+      hand_planner: ParallelGripper
+      obstacle_avoid_paths: []
+      obstacle_ignore_paths: []
+      close_value: 1.0
+      open_value: 0.0
+      hold_steps: 10
+    Grasp:
+      pre_grasp_offset: 0.1
+      retrieval_offset: 0.1
+      mobile: true
+      pre_grasp_planner: MobileMoveL
+      pre_grasp_mode: -1
+      grasp_mode: 4
+      retrieval_mode: 4
+      reactive: false
+      viz_grasp: false
+  auto_collect:
+    max_trajectories: null
+  record:
+    output_dir: /mnt/scratch/sz850_atomic/n010_go2_off_1022/out/record
+    formats:
+    - lerobot_v21
+    - sim_info
+    clear_buffer_on_failure: true
+    lerobot:
+      subsample_every: 2
+  command:
+    StationHammer:
+      robot_id: 0
+      init_limit: 60
+      max_attempt: 2
+      completion_timeout_steps: 300
+      stages:
+        turn_first: true
+        pre_strike_linear: true
+        pre_clear: 0.06
+        lift: 0.08
+env_string: HammerEnv-V0

N010/go2_arm/dr_off/seed_1022/record/stationhammer/000/completed/0.json

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

N010/go2_arm/dr_off/seed_1022/record/stationhammer/000/joint_names.json

@@ -0,0 +1,24 @@
+{
+ "Go2Plus": [
+  "go2_FL_hip_joint",
+  "go2_FR_hip_joint",
+  "go2_RL_hip_joint",
+  "go2_RR_hip_joint",
+  "piper_joint1",
+  "go2_FL_thigh_joint",
+  "go2_FR_thigh_joint",
+  "go2_RL_thigh_joint",
+  "go2_RR_thigh_joint",
+  "piper_joint2",
+  "go2_FL_calf_joint",
+  "go2_FR_calf_joint",
+  "go2_RL_calf_joint",
+  "go2_RR_calf_joint",
+  "piper_joint3",
+  "piper_joint4",
+  "piper_joint5",
+  "piper_joint6",
+  "piper_joint7",
+  "piper_joint8"
+ ]
+}

N010/go2_arm/dr_off/seed_1022/record/stationhammer/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64373ec778edf76861b22c2bd77b4115aa6f726d72f331b06cb878528fb0218f
+size 2497736

N010/go2_arm/dr_off/seed_1022/record/stationhammer/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head."], "length": 1397, "magicsim/control_steps": 2794, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the hammer rack. There are a large gray table a, a large gray table b, a medium hammer rack, a small hammer and a small strike block. The hammer is on top of the hammer rack. The strike block is on top of the gray table b. The scene is viewed from front, at table height."}

N010/go2_arm/dr_off/seed_1022/record/stationhammer/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
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N010/go2_arm/dr_off/seed_1022/record/stationhammer/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,340 @@
+{
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+     "type": "mobilemanip",
+     "noun": "Unitree Go2 EDU quadruped with a Piper arm",
+     "arms": 1,
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+     "mobile": true,
+     "dexterous": false,
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+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1000.0,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the hammer rack. There are a large gray table a, a large gray table b, a medium hammer rack, a small hammer and a small strike block. The hammer is on top of the hammer rack. The strike block is on top of the gray table b. The scene is viewed from front, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n[strike block]\n\n\n                  [hamm[hammer]\n\n\n\n\n                    [robot]"
+  },
+  "task": {
+   "task_type": "StationHammer",
+   "instruction": "Go to the tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head.",
+   "template_id": -1,
+   "slots": {
+    "obj": 0.0,
+    "support": null
+   },
+   "generic_instruction": "Stationhammer the object.",
+   "task_id": "N010",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {}
+ },
+ "depth_range": [
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+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N010/go2_arm/dr_off/seed_1022/record/stationhammer/000/lerobot_v21/meta/info.json

@@ -0,0 +1,301 @@
+{
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+            }
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+                3
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+            }
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+}

N010/go2_arm/dr_off/seed_1022/record/stationhammer/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,290 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 02:29:23"
+    },
+    "embodiment": {
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+                "name": "Go2Plus",
+                "cfg": "Go2PlusCfg",
+                "type": "mobilemanip",
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+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
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+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
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+                    "base_action_2",
+                    "base_action_3"
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+                    "eef0.pos_y",
+                    "eef0.pos_z",
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+                    "eef0.quat_y",
+                    "eef0.quat_z"
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+                    "go2_FL_thigh_joint",
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+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
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+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
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+    "generated_run": {
+        "run_id": "stationhammer/000",
+        "task_type": "StationHammer"
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+}

N010/go2_arm/dr_off/seed_1022/record/stationhammer/000/lerobot_v21/meta/tasks.jsonl

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+{"task_index": 0, "task": "Go to the tool rack, pick up the hammer, carry it to the wooden block, and tap the block once with the hammer head."}

N010/go2_arm/dr_off/seed_1022/record/stationhammer/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

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N010/go2_arm/dr_off/seed_1022/record/stationhammer/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

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N010/go2_arm/dr_off/seed_1022/record/stationhammer/000/run_meta.json

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+    "record_config": {
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N010/go2_arm/dr_off/seed_1022/record/stationhammer/000/sim_info/magicsim_manifest.json

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+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 02:29:45"
+    },
+    "embodiment": {
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+                "name": "Go2Plus",
+                "cfg": "Go2PlusCfg",
+                "type": "mobilemanip",
+                "joint_names": [
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+                    "go2_RL_hip_joint",
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+                    "go2_FL_thigh_joint",
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+        "fps_int": 50,
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+        "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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+        "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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+}

N010/go2_arm/dr_off/seed_1022/report.json

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+{
+ "task": "n010",
+ "robot": "go2_arm",
+ "level": "easy",
+ "dr": "on",
+ "seed": 1022,
+ "steps": 2854,
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+  "fail_classes": {},
+  "wall_s": 1284.5
+ },
+ "driver_error": null,
+ "review_cameras": [],
+ "policy_obs_signature": [
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+  "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32",
+  "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32",
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+    "lerobot_v21",
+    "sim_info"
+   ],
+   "clear_buffer_on_failure": true,
+   "lerobot": {
+    "subsample_every": 2
+   }
+  }
+ }
+}

N010/go2_arm/dr_off/seed_1022/reports.jsonl

@@ -0,0 +1 @@
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weight"}