add 21 staged episodes

N025/go2_arm/dr_on/seed_2055/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 table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1744 rows vs ceil(3487/2) = 1744"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 31..3517, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "18.75 MB, 1744 frames at 25 fps, mean luma 83..110, std 40, new picture 1743x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1744 vs 1744"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "38.52 MB, 1744 frames at 25 fps, mean luma 113..156, std 31, new picture 1743x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1744 vs 1744"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stationassembly/000/sim_info"
+  }
+ }
+}

N025/go2_arm/dr_on/seed_2055/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n025_go2_on_2055/out  task=N025  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n025_go2_on_2055/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1744  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: 1744 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 table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'
+rows 1744 at dataset fps 25 = 69.76 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1744 rows vs ceil(3487/2) = 1744
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..3517, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 18.75 MB, 1744 frames at 25 fps, mean luma 83..110, std 40, new picture 1743x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1744 vs 1744
+[PASS] video observation.images.wrist decodes, 640x480, not black: 38.52 MB, 1744 frames at 25 fps, mean luma 113..156, std 31, new picture 1743x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1744 vs 1744
+parquet size 19.87 MB
+[PASS] sim_info present: stationassembly/000/sim_info
+dataset size 77.39 MB; whole cell dir 78.9 MB
+RESULT: ALL PASS

N025/go2_arm/dr_on/seed_2055/report.json

@@ -0,0 +1,2159 @@
+{
+  "task": "N025",
+  "agent_id": null,
+  "embodiment": "go2_arm",
+  "level": "easy",
+  "scene_seed": 2055,
+  "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)",
+  "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml",
+  "full_success": true,
+  "failure_reason": null,
+  "dr": {
+    "seed": 2055,
+    "wedge": {
+      "dx": -0.00285,
+      "dy": -0.01301,
+      "yaw_deg": -4.51523
+    },
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+      "env.scene.background.intensity": [
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+  },
+  "planner_seeds": {
+    "label": "lean",
+    "num_trajopt_seeds": 1,
+    "num_ik_seeds": 4,
+    "max_attempts": 6
+  },
+  "collect": {
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+    "visual_dr": true,
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+      "MMB_COLLECT": "1",
+      "MMB_TASK_ID": "N025",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "1"
+    },
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+    "resolution": [
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+    "camera_hz": 25,
+    "record": {
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+        "lerobot_v21",
+        "sim_info"
+      ],
+      "clear_buffer_on_failure": true,
+      "lerobot": {
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+  },
+  "steps": 3517,
+  "task_id": "N025",
+  "task_version": "EXT60-MobileAvatar-v3",
+  "family_id": "wedge_support",
+  "primary_category": "C4",
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+  "env_truncated": false,
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N025/go2_arm/dr_on/seed_2055/stationassembly/000/completed/0.json

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N025/go2_arm/dr_on/seed_2055/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json

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+       -0.08611861262827436,
+       0.017148138726427706
+      ]
+     }
+    }
+   ],
+   "robots": [
+    {
+     "name": "Go2Plus",
+     "model": "go2plus",
+     "type": "mobilemanip",
+     "noun": "Unitree Go2 EDU quadruped with a Piper arm",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
+       -3.46679,
+       -2.4899,
+       0.45
+      ],
+      "ori": [
+       0.8120661377906799,
+       0.0,
+       0.0,
+       0.583565354347229
+      ]
+     },
+     "facing_yaw_deg": 71.40340595360352,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1140.34697,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is in front of the wedge. The gray table B is behind the shim board. The shim board is on top of the gray table B. The shim board is in front of the gray table B. The wedge is on top of the gray table A. The wedge is behind the gray table A. The scene is viewed from front-right, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                   [shim board]\n\n\n  [wedge]A]\n\n\n\n\n[robot]"
+  },
+  "task": {
+   "task_type": "StationAssembly",
+   "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Stationassembly the 1.5707963267948966.",
+   "task_id": "N025",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {
+   "frame_0556": {
+    "frame_idx": 556,
+    "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0586": {
+    "frame_idx": 586,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0722": {
+    "frame_idx": 722,
+    "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_0733": {
+    "frame_idx": 733,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
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+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0736": {
+    "frame_idx": 736,
+    "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_1141": {
+    "frame_idx": 1141,
+    "caption": "Computing a grasp pose for the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "verify",
+    "skill_state": "computing",
+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_1214": {
+    "frame_idx": 1214,
+    "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_1251": {
+    "frame_idx": 1251,
+    "caption": "Working on the small wedge; the right gripper is below the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1454": {
+    "frame_idx": 1454,
+    "caption": "Done — the small wedge is grasped; the right gripper is below the wedge.",
+    "skill": "Grasp",
+    "phase": "completed",
+    "skill_state": "finished",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1455": {
+    "frame_idx": 1455,
+    "caption": "Working on the small wedge; the right gripper is below the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1504": {
+    "frame_idx": 1504,
+    "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_1539": {
+    "frame_idx": 1539,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2257": {
+    "frame_idx": 2257,
+    "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2262": {
+    "frame_idx": 2262,
+    "caption": "Working on the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2787": {
+    "frame_idx": 2787,
+    "caption": "Working on the medium shim board; the right gripper is below and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_2850": {
+    "frame_idx": 2850,
+    "caption": "Working on the medium shim board; the right gripper is below and to the right of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2859": {
+    "frame_idx": 2859,
+    "caption": "Working on the medium shim board; the right gripper is below and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "shim_board_1",
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+   "frame_2882": {
+    "frame_idx": 2882,
+    "caption": "Working on the medium shim board; the right gripper is below and to the right of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of",
+     "in_front_of"
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+   },
+   "frame_2889": {
+    "frame_idx": 2889,
+    "caption": "Working on the medium shim board; the right gripper is below and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
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+   },
+   "frame_3014": {
+    "frame_idx": 3014,
+    "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "verify",
+    "skill_state": "computing",
+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "shim_board_1",
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+    "eef_relation": [
+     "below",
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+   },
+   "frame_3081": {
+    "frame_idx": 3081,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and behind the wedge.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:pre_insert",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
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+     "left_of",
+     "behind"
+    ]
+   }
+  }
+ },
+ "depth_range": [
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+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N025/go2_arm/dr_on/seed_2055/stationassembly/000/lerobot_v21/meta/info.json

@@ -0,0 +1,296 @@
+{
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+    "robot_type": "Go2PlusCfg",
+    "total_episodes": 1,
+    "total_frames": 1744,
+    "total_tasks": 1,
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+    "fps": 25,
+    "splits": {
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+                "eef0.pos_z",
+                "eef0.quat_w",
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+                "eef0.quat_y",
+                "eef0.quat_z",
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+                "joint_6",
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+                "joint_8",
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+                "joint_10",
+                "joint_11",
+                "joint_12",
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+                "joint_15",
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+                "joint_17",
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+                "go2_FL_thigh_joint",
+                "go2_FR_thigh_joint",
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+                "piper_joint2",
+                "go2_FL_calf_joint",
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+                "piper_joint4",
+                "piper_joint5",
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+                "articulation_pose.shim_board.2",
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+                "articulation_pose.shim_board.5",
+                "articulation_pose.shim_board.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",
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+                "object_pose.table_A.6",
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+                "object_pose.table_B.4",
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+                "object_pose.wedge.1",
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+                "object_pose.wedge.3",
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+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist": {
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+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
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+                "video.fps": 25,
+                "video.codec": "libsvtav1",
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+                "video.channels": 3,
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+            }
+        }
+    }
+}

N025/go2_arm/dr_on/seed_2055/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,290 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 09:52:40"
+    },
+    "embodiment": {
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+                "name": "Go2Plus",
+                "cfg": "Go2PlusCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "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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+        "fps_int": 50,
+        "sim_dt": 0.005,
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+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
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+                    "base_action_2",
+                    "base_action_3"
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+                    "eef0.quat_x",
+                    "eef0.quat_y",
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+                    "go2_RL_hip_joint",
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+                    "go2_FL_thigh_joint",
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+                    "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",
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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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+            "frame_index",
+            "index",
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+            "observation.environment_state",
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+            "sim_step_idx",
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+            "timestamp"
+        ]
+    },
+    "generated_run": {
+        "run_id": "stationassembly/000",
+        "task_type": "StationAssembly"
+    }
+}

N025/go2_arm/dr_on/seed_2055/stationassembly/000/lerobot_v21/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level."}

N025/go2_arm/dr_on/seed_2055/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

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N025/go2_arm/dr_on/seed_2055/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

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N025/go2_arm/dr_on/seed_2055/stationassembly/000/run_meta.json

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N025/go2_arm/dr_on/seed_2055/stationassembly/000/sim_info/0/actions.npz

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N025/go2_arm/dr_on/seed_2055/stationassembly/000/sim_info/0/sim_states.npz

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N025/go2_arm/dr_on/seed_2055/stationassembly/000/sim_info/magicsim_manifest.json

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N025/go2_arm/dr_on/seed_2055/stationassembly/000/visual_dr.json

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+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RR_calf/go2_RR_calf_geometry/visual_0",
+      "rigid_body"
+     ]
+    ]
+   },
+   "material_library": {
+    "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material",
+    "pool_sizes": {
+     "ground": 42,
+     "wall": 28,
+     "furniture": 38,
+     "object": 54
+    }
+   },
+   "no_swap": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "reason": "glass",
+     "bound_prims": 1
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "reason": "emissive",
+     "bound_prims": 1
+    }
+   ],
+   "unsupported": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "mdl": "OmniGlass.mdl",
+     "bound_prims": 1
+    }
+   ]
+  },
+  {
+   "env_ids": [
+    0
+   ],
+   "reset_index": 1,
+   "episode_seed": 2055,
+   "seeds": {
+    "0": 2055
+   },
+   "lights": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
+     "type": "RectLight",
+     "intensity": 18288.292477,
+     "intensity_base": 15000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 7470.801117,
+     "rotate_deg": [
+      -3.643,
+      4.205,
+      0.839
+     ]
+    }
+   ],
+   "domes": [
+    {
+     "path": "/World/background",
+     "type": "DomeLight",
+     "intensity": 1578.571508,
+     "intensity_base": 1140.3469,
+     "enable_color_temperature": true,
+     "color_temperature_k": 3934.771976,
+     "rotate_deg": [
+      0.0,
+      0.0,
+      192.833
+     ],
+     "dome": {
+      "path": "/World/background",
+      "hdr_base": null,
+      "hdr": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Background/noon_grass_4k.hdr",
+      "color": [
+       0.70159,
+       0.809115,
+       0.76636
+      ]
+     }
+    }
+   ],
+   "materials": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "shader": "omnipbr",
+     "color": [
+      0.7134,
+      0.9477,
+      0.9191
+     ],
+     "color_base": [
+      1.0,
+      1.0,
+      1.0
+     ],
+     "roughness": 0.598995,
+     "roughness_base": 0.5,
+     "bound_prims": 1
+    }
+   ],
+   "display_colors": [],
+   "swapped": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor",
+     "role": "ground",
+     "mdl": "Source/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl",
+     "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway",
+     "bound_prims": 1,
+     "pool_size": 42,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic",
+     "role": "wall",
+     "mdl": "Source/Paint/Chalk_Paint.mdl",
+     "material": "/MmbVdrLooks/Source_Paint_Chalk_Paint",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Stone/Padang_Dark_Gray.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Padang_Dark_Gray",
+     "bound_prims": 22,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
+     "role": "wall",
+     "mdl": "Source/Concrete/Concrete_Polished.mdl",
+     "material": "/MmbVdrLooks/Source_Concrete_Concrete_Polished",
+     "bound_prims": 10,
+     "pool_size": 28,
+     "bind_failed": 0
+    }
+   ],
+   "skipped": {
+    "unsupported_shader": 1,
+    "protected_material": 0,
+    "error": 0,
+    "instance_proxy": 0,
+    "no_swap": 2,
+    "bind_failed": 0
+   },
+   "keep_hits": {
+    "wedge": 2,
+    "shim_board": 4
+   },
+   "physics_skip": {
+    "physics_binding": 7,
+    "rigid_body": 223,
+    "examples": [
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower1_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower1_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower1_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RR_calf/go2_RR_calf_geometry/visual_0",
+      "rigid_body"
+     ]
+    ]
+   },
+   "material_library": {
+    "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material",
+    "pool_sizes": {
+     "ground": 42,
+     "wall": 28,
+     "furniture": 38,
+     "object": 54
+    }
+   },
+   "no_swap": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "reason": "glass",
+     "bound_prims": 1
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "reason": "emissive",
+     "bound_prims": 1
+    }
+   ],
+   "unsupported": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "mdl": "OmniGlass.mdl",
+     "bound_prims": 1
+    }
+   ]
+  }
+ ]
+}

N025/sawyer_umi/dr_off/seed_1044/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 table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1395 rows vs ceil(2789/2) = 1395"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 31..2819, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "14.57 MB, 1395 frames at 25 fps, mean luma 101..144, std 36, new picture 1394x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1395 vs 1395"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "24.51 MB, 1395 frames at 25 fps, mean luma 97..173, std 39, new picture 1394x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1395 vs 1395"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stationassembly/000/sim_info"
+  }
+ }
+}

N025/sawyer_umi/dr_off/seed_1044/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n025_saw_off_1044/out  task=N025  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n025_saw_off_1044/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1395  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: 1395 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 table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'
+rows 1395 at dataset fps 25 = 55.80 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1395 rows vs ceil(2789/2) = 1395
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..2819, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 14.57 MB, 1395 frames at 25 fps, mean luma 101..144, std 36, new picture 1394x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1395 vs 1395
+[PASS] video observation.images.wrist decodes, 640x480, not black: 24.51 MB, 1395 frames at 25 fps, mean luma 97..173, std 39, new picture 1394x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1395 vs 1395
+parquet size 2.05 MB
+[PASS] sim_info present: stationassembly/000/sim_info
+dataset size 41.30 MB; whole cell dir 42.2 MB
+RESULT: ALL PASS

N025/sawyer_umi/dr_off/seed_1044/report.json

@@ -0,0 +1,1805 @@
+{
+  "task": "N025",
+  "agent_id": null,
+  "embodiment": "sawyer_umi",
+  "level": "easy",
+  "scene_seed": 1044,
+  "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)",
+  "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml",
+  "full_success": true,
+  "failure_reason": null,
+  "dr": {
+    "seed": 1044,
+    "wedge": {
+      "dx": 0.00136,
+      "dy": 0.07898,
+      "yaw_deg": -2.16226
+    },
+    "shim_board": {
+      "dx": 0.06517,
+      "dy": 0.02428,
+      "yaw_deg": -2.16276
+    },
+    "wedge_mass": 0.03524,
+    "light": 1067.63459,
+    "spawn": {
+      "dx": -0.0192,
+      "dy": -0.07877,
+      "yaw_deg": -12.22105
+    },
+    "overrides": {
+      "env.scene.objects.wedge.common.pos": [
+        -1.99864,
+        1.47898,
+        0.431
+      ],
+      "env.scene.objects.wedge.common.ori": [
+        0.0,
+        0.0,
+        87.83774
+      ],
+      "env.scene.objects.shim_board.common.pos": [
+        1.26517,
+        3.17428,
+        0.43
+      ],
+      "env.scene.objects.shim_board.common.ori": [
+        0.0,
+        0.0,
+        -92.16276
+      ],
+      "env.scene.objects.wedge.wedge_1.physics.mass": 0.03524,
+      "env.scene.background.intensity": [
+        1067.63459,
+        1067.63459
+      ],
+      "env.robot.RidgebackSawyerUmi.common.pos": [
+        [
+          -3.6192,
+          -2.57877,
+          0.06
+        ],
+        [
+          -3.6192,
+          -2.57877,
+          0.06
+        ]
+      ],
+      "env.robot.RidgebackSawyerUmi.common.ori": [
+        [
+          0,
+          0,
+          47.77895
+        ],
+        [
+          0,
+          0,
+          47.77895
+        ]
+      ]
+    }
+  },
+  "planner_seeds": {
+    "label": "default",
+    "num_trajopt_seeds": null,
+    "num_ik_seeds": null,
+    "max_attempts": 6
+  },
+  "collect": {
+    "task": "N025",
+    "robot": "sawyer_umi",
+    "visual_dr": false,
+    "env": {
+      "MMB_COLLECT": "1",
+      "MMB_TASK_ID": "N025",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "0"
+    },
+    "cameras": {
+      "head": {
+        "link": "Robot_0/head",
+        "pos": [
+          0.2166,
+          0.0,
+          -0.045
+        ],
+        "ori": [
+          -0.0,
+          35.0,
+          -90.0
+        ],
+        "focal_length": 2.0,
+        "horizontal_aperture": 3.6,
+        "vertical_aperture": 2.7
+      },
+      "wrist": {
+        "link": "Robot_0/right_electric_gripper_base",
+        "pos": [
+          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
+      }
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N025/sawyer_umi/dr_off/seed_1044/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,508 @@
+{
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+     "relation": "on_top_of",
+     "object": "table_B_1"
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+     "relation": "left_of",
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+   "robots": [
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+     "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": [
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+       -2.57877,
+       0.06
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+      "ori": [
+       0.9143283367156982,
+       0.0,
+       0.0,
+       0.4049736261367798
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+     "facing_yaw_deg": 47.77894792453807,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1067.63459,
+    "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 medium shim board and a small wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The scene is viewed from front, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                   [shim board]\n\n\n\n[wedge]A]\n\n\n\n                        [robot]"
+  },
+  "task": {
+   "task_type": "StationAssembly",
+   "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Stationassembly the 1.5707963267948966.",
+   "task_id": "N025",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {
+   "frame_0655": {
+    "frame_idx": 655,
+    "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0666": {
+    "frame_idx": 666,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0807": {
+    "frame_idx": 807,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of"
+    ]
+   },
+   "frame_0903": {
+    "frame_idx": 903,
+    "caption": "Working on the small wedge; the right gripper is below the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
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+    ]
+   },
+   "frame_1187": {
+    "frame_idx": 1187,
+    "caption": "Done — the small wedge is grasped; the right gripper is below the wedge.",
+    "skill": "Grasp",
+    "phase": "completed",
+    "skill_state": "finished",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1188": {
+    "frame_idx": 1188,
+    "caption": "Working on the small wedge; the right gripper is below the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1222": {
+    "frame_idx": 1222,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
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+    "target": "wedge_1",
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+   "frame_1231": {
+    "frame_idx": 1231,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
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+   "frame_2308": {
+    "frame_idx": 2308,
+    "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
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+     "in_front_of"
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+   },
+   "frame_2341": {
+    "frame_idx": 2341,
+    "caption": "Working on the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2546": {
+    "frame_idx": 2546,
+    "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "verify",
+    "skill_state": "computing",
+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2549": {
+    "frame_idx": 2549,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and behind the wedge.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:pre_insert",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "behind"
+    ]
+   }
+  }
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N025/sawyer_umi/dr_off/seed_1044/stationassembly/000/lerobot_v21/meta/info.json

@@ -0,0 +1,277 @@
+{
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+                "frame0.pos_z",
+                "frame0.quat_w",
+                "frame0.quat_x",
+                "frame0.quat_y",
+                "frame0.quat_z",
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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",
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+                "gripper_1"
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+                "dummy_base_prismatic_y_joint",
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+                "right_j0",
+                "head_pan",
+                "right_j1",
+                "right_j2",
+                "right_j3",
+                "right_j4",
+                "right_j5",
+                "right_j6",
+                "right_gripper_l_finger_joint",
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+        "observation.images.wrist": {
+            "dtype": "video",
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+            "names": [
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+}

N025/sawyer_umi/dr_off/seed_1044/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,264 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 09:45:48"
+    },
+    "embodiment": {
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N025/sawyer_umi/dr_off/seed_1044/stationassembly/000/lerobot_v21/meta/stats.json

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+    }
+}

N025/sawyer_umi/dr_off/seed_1044/stationassembly/000/sim_info/0/actions.npz

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+oid sha256:c28091d9e1a808ab5a53f0b5102a21452ddac4d6efd32eee367731e1045b5093
+size 427450

N025/sawyer_umi/dr_off/seed_1044/stationassembly/000/sim_info/0/scene_snapshot.json

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+{
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+    "env_id": 0,
+    "run_id": "stationassembly/000",
+    "task_type": "StationAssembly",
+    "success": true,
+    "timing": {
+        "fps": 50.0,
+        "sim_dt": 0.005,
+        "decimation": 4
+    },
+    "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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+        "scene": {
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+                {
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+                            "pose": {
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+                                    0.23
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+                                    0.6,
+                                    0.4
+                                ]
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+                            "dr": {
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+                                        0.78,
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+                                    ]
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+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "shim_board": [
+                        {
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+                                    "visible": true
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+                                    "type": "articulation",
+                                    "collision": true,
+                                    "fixed_base": true,
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+                                },
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+                            },
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+                    ],
+                    "wedge": [
+                        {
+                            "asset": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Object/MobileAssembly/wedge_a05/Object.usd",
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+                ]
+            }
+        }
+    }
+}

N025/sawyer_umi/dr_off/seed_1044/stationassembly/000/sim_info/0/sim_states.npz

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+oid sha256:9b5dbb2a118587ac9262256b083a27c4e660359b967bd382a4ebae763c139406
+size 394698

N025/sawyer_umi/dr_off/seed_1044/stationassembly/000/sim_info/magicsim_manifest.json

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+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 09:46:17"
+    },
+    "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": {
+        "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": [
+            {
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+                "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"
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+                    "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"
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+                "names": [
+                    "gripper"
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+                    "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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+                "names_source": "joint_names"
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+                "start": 13,
+                "end": 15,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
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+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
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+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
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+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
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+                "resolution": [
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+                0.7071067690849304,
+                -4.329780301713277e-17
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+        }
+    },
+    "generated_run": {
+        "run_id": "stationassembly/000",
+        "task_type": "StationAssembly"
+    }
+}

N025/stretch3/dr_off/seed_1050/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "2426 rows vs ceil(4852/2) = 2426"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 31..4881, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "21.82 MB, 2426 frames at 25 fps, mean luma 109..152, std 15, new picture 2425x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "2426 vs 2426"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "41.66 MB, 2426 frames at 25 fps, mean luma 125..166, std 29, new picture 2425x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "2426 vs 2426"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stationassembly/000/sim_info"
+  }
+ }
+}

N025/stretch3/dr_off/seed_1050/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n025_str_off_1050/out  task=N025  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n025_str_off_1050/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 2426  videos 2  robot_type HelloRobotCfg
+[PASS] codebase v2.1: v2.1
+[PASS] dataset fps = 25: info.fps 25
+(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only)
+[PASS] parquet episodes: 1 files, info.total_episodes=1
+--- episode file episode_000000.parquet: 2426 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']
+[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'
+rows 2426 at dataset fps 25 = 97.04 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2426 rows vs ceil(4852/2) = 2426
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..4881, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 21.82 MB, 2426 frames at 25 fps, mean luma 109..152, std 15, new picture 2425x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 2426 vs 2426
+[PASS] video observation.images.wrist decodes, 640x480, not black: 41.66 MB, 2426 frames at 25 fps, mean luma 125..166, std 29, new picture 2425x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 2426 vs 2426
+parquet size 2.87 MB
+[PASS] sim_info present: stationassembly/000/sim_info
+dataset size 66.55 MB; whole cell dir 68.0 MB
+RESULT: ALL PASS

N025/stretch3/dr_off/seed_1050/report.json

@@ -0,0 +1,2893 @@
+{
+  "task": "N025",
+  "agent_id": null,
+  "embodiment": "stretch3",
+  "level": "easy",
+  "scene_seed": 1050,
+  "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)",
+  "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml",
+  "full_success": true,
+  "failure_reason": null,
+  "dr": {
+    "seed": 1050,
+    "wedge": {
+      "dx": 0.03454,
+      "dy": -0.01197,
+      "yaw_deg": -7.62036
+    },
+    "shim_board": {
+      "dx": 0.06683,
+      "dy": 0.01423,
+      "yaw_deg": -2.66197
+    },
+    "wedge_mass": 0.03803,
+    "light": 1147.5261,
+    "spawn": {
+      "dx": 0.09407,
+      "dy": -0.10787,
+      "yaw_deg": -10.41646
+    },
+    "overrides": {
+      "env.scene.objects.wedge.common.pos": [
+        -1.96546,
+        1.38803,
+        0.431
+      ],
+      "env.scene.objects.wedge.common.ori": [
+        0.0,
+        0.0,
+        82.37964
+      ],
+      "env.scene.objects.shim_board.common.pos": [
+        1.26683,
+        3.16423,
+        0.43
+      ],
+      "env.scene.objects.shim_board.common.ori": [
+        0.0,
+        0.0,
+        -92.66197
+      ],
+      "env.scene.objects.wedge.wedge_1.physics.mass": 0.03803,
+      "env.scene.background.intensity": [
+        1147.5261,
+        1147.5261
+      ],
+      "env.robot.RidgebackSawyerUmi.common.pos": [
+        [
+          -3.50593,
+          -2.60787,
+          0.06
+        ],
+        [
+          -3.50593,
+          -2.60787,
+          0.06
+        ]
+      ],
+      "env.robot.RidgebackSawyerUmi.common.ori": [
+        [
+          0,
+          0,
+          49.58354
+        ],
+        [
+          0,
+          0,
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+      ]
+    }
+  },
+  "planner_seeds": {
+    "label": "lean",
+    "num_trajopt_seeds": 1,
+    "num_ik_seeds": 4,
+    "max_attempts": 6
+  },
+  "collect": {
+    "task": "N025",
+    "robot": "stretch3",
+    "visual_dr": false,
+    "env": {
+      "MMB_COLLECT": "1",
+      "MMB_TASK_ID": "N025",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "0"
+    },
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