add 20 staged episodes

N012/stretch3/dr_off/seed_3045/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 tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'; expected 'Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "2403 rows vs ceil(4805/2) = 2403"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 211..5015, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "62.27 MB, 2403 frames at 25 fps, mean luma 98..145, std 13, new picture 2402x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "2403 vs 2403"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "56.05 MB, 2403 frames at 25 fps, mean luma 98..149, std 32, new picture 2402x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "2403 vs 2403"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "squeegee/000/sim_info"
+  }
+ }
+}

N012/stretch3/dr_off/seed_3045/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n012_str_off_3045/out  task=N012  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n012_str_off_3045/out/squeegee/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 2403  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: 2403 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 tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'; expected 'Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.'
+rows 2403 at dataset fps 25 = 96.12 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2403 rows vs ceil(4805/2) = 2403
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 211..5015, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 62.27 MB, 2403 frames at 25 fps, mean luma 98..145, std 13, new picture 2402x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 2403 vs 2403
+[PASS] video observation.images.wrist decodes, 640x480, not black: 56.05 MB, 2403 frames at 25 fps, mean luma 98..149, std 32, new picture 2402x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 2403 vs 2403
+parquet size 4.75 MB
+[PASS] sim_info present: squeegee/000/sim_info
+dataset size 123.37 MB; whole cell dir 127.5 MB
+RESULT: ALL PASS

N012/stretch3/dr_off/seed_3045/config.yaml

@@ -0,0 +1,699 @@
+env_string: SqueegeeEnv-V0
+env:
+  sim:
+    device: cpu
+    use_fabric: false
+    decimation: 4
+    dt: 0.005
+    seed: 3045
+    soft_resets: 1000000
+    scene:
+      num_envs: 1
+      env_spacing: 14
+    render:
+      rendering_mode: performance
+      enable_reflections: false
+      enable_global_illumination: false
+      enable_translucency: false
+      enable_dl_denoiser: false
+  robot:
+    HelloRobot:
+      name: hellorobot
+      type: mobilemanip
+      common:
+        pos:
+        - - -3.1601028590351685
+          - -1.722878094480288
+          - 0.06
+        - - -3.1601028590351685
+          - -1.722878094480288
+          - 0.06
+        ori:
+        - - 0
+          - 0
+          - -120.00000000000001
+        - - 0
+          - 0
+          - -120.00000000000001
+        initial_joint_pos:
+          joint_lift: 0.55
+          joint_arm_l[0-3]: 0.025
+          joint_wrist_yaw: 0.0
+          joint_wrist_roll: 1.5707963267948966
+      action:
+        base_action: differential_virtual
+        arm_action: ik_abs
+        eef_action: binary
+      planner:
+        dual_mode: true
+        base_joint_names:
+        - dummy_base_prismatic_x_joint
+        - dummy_base_prismatic_y_joint
+        - dummy_base_revolute_z_joint
+        obstacle_ignore_categories: []
+        ik:
+          type: hellorobot
+          enable: true
+          ik_num_instances: 1
+          ik_batch_size: 1
+          ik_num_seeds: 32
+          ik_max_goalset: 1
+          ik_position_threshold: 0.003
+          ik_rotation_threshold: 0.02
+          microbatch_wait_ms: 1.0
+          seed_use_live_joint_pos: true
+        motiongen:
+          type: hellorobot
+          enable: true
+          motiongen_num_instances: 1
+          batch_size: 1
+          microbatch_wait_ms: 1.0
+          seed_use_live_joint_pos: true
+          mode: position
+          num_trajopt_seeds: 1
+          num_ik_seeds: 4
+        body:
+          type: nav
+          dwb_type: dwb_differential
+          dwb_differential:
+            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: 8.0
+            w_vel: 0.2
+            w_vy: 0.0
+            dilate_radius: 0.4
+            room_size: 12.0
+            occupancy_update_interval: 50
+            scan_height: 0.45
+            scan_min_z: 0.22
+            scan_max_z: 1.75
+            goal_pos_threshold: 0.07
+            goal_yaw_threshold: 0.15
+            kp_goal_yaw: 1.5
+            min_speed: -0.3
+            max_speed: 0.3
+            w_heading: 0.5
+            min_yaw_rate: -0.8
+            max_yaw_rate: 0.8
+            safety_enabled: true
+            safety_deceleration: 0.5
+            safety_reaction_time: 0.5
+            goal_heading_fade_distance: 0.5
+            scan_type: 3d
+            own_body_clear: true
+            own_body_radius: 0.15
+          p_controller:
+            kp_angular_turning_only: 2.0
+            kd_angular_turning_only: 0.2
+            kp_linear_x: 2.0
+            kp_linear_y: 2.0
+            kp_angular: 2.0
+            kd_linear_x: 0.1
+            kd_linear_y: 0.1
+            min_vel: -0.25
+            max_vel: 0.35
+            linear_dead_zone: 0.003
+            angular_dead_zone: 0.008
+            nav_heading_target: 1
+            velocity_frame: world
+        arm:
+          type: default
+        eef:
+          type: default
+      physics:
+        robot_radius: 0.4
+        wheel_base: 0.5
+      reset: default
+  camera:
+    enable_tiled: false
+    colorize_depth: false
+    head:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 2.73834228515625
+        horizontal_aperture: 2.1600000858306885
+        vertical_aperture: 1.62
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/base_link
+        pos:
+        - 0.049771
+        - -0.002942
+        - 1.295723
+        ori:
+        - 0.0002
+        - -55.623
+        - -90.0
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+    wrist:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.280753493309021
+        horizontal_aperture: 1.9199999570846558
+        vertical_aperture: 1.44
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/link_gripper_s3_body
+        pos:
+        - 0.009
+        - 0.062939
+        - 0.056398
+        ori:
+        - -170.0021
+        - 0.0
+        - -179.9998
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+  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
+    light:
+      light_1:
+        types:
+        - Dome
+        common:
+          pos:
+          - 0.0
+          - 0.0
+          - 0.0
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          color_temperature_range:
+          - 6500
+          - 6500
+          color_range:
+          - - 1.0
+            - 1.0
+            - 1.0
+          - - 1.0
+            - 1.0
+            - 1.0
+        Dome:
+          intensity_range:
+          - 858.9468504395691
+          - 858.9468504395691
+    water:
+      max_particles: 1500
+      particle:
+        fluid_rest_offset: 0.0027
+        ccd: true
+      look:
+        mode: spheres
+        color:
+        - 0.05
+        - 0.45
+        - 1.0
+        bead_scale: 1.5
+      retire:
+        floor_ttl: 3600.0
+        max_age: 7200.0
+        radius: 30.0
+        below: -2.0
+    objects:
+      table_a:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        table_a_1:
+          pos:
+          - -1.0
+          - 3.2
+          - 0.30500000000000005
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.9
+          - 0.6
+          - 0.55
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.35
+              - 0.37
+              - 0.4
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.8764915517329324
+              dynamic_friction: 0.6573686637996992
+              restitution: 0.0
+      table_b:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        table_b_1:
+          pos:
+          - 2.6
+          - 0.4
+          - 0.30500000000000005
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.7
+          - 1.0
+          - 0.55
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.35
+              - 0.37
+              - 0.4
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.7799360219876519
+              dynamic_friction: 0.5849520164907389
+              restitution: 0.0
+      squeegee:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Squeegee/Object.usda
+        num_per_env: 1
+        random: false
+        squeegee_1:
+          pos:
+          - -0.9985778529226993
+          - 3.120303921516608
+          - 0.7210000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 92.62644469344893
+          physics:
+            type: rigid
+            mass: 0.11460978985789223
+            physics_material:
+              static_friction: 1.4671445523329614
+              dynamic_friction: 1.283751483291341
+              restitution: 0.0
+      rack_a0:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        rack_a0_1:
+          pos:
+          - -1.0
+          - 3.2065
+          - 0.6485000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.1
+          - 0.053000000000000005
+          - 0.137
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.45
+              - 0.3
+              - 0.18
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.7624489742131626
+              dynamic_friction: 0.571836730659872
+              restitution: 0.0
+      platform:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Platform/Object.usda
+        num_per_env: 1
+        random: false
+        platform_1:
+          pos:
+          - 2.5
+          - 0.4
+          - 0.6000000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.7630501403113767
+              dynamic_friction: 0.5722876052335325
+              restitution: 0.0
+          water: {}
+      trough:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Trough/Object.usda
+        num_per_env: 1
+        random: false
+        trough_1:
+          pos:
+          - 2.74
+          - 0.4
+          - 0.5950000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.8377444504336939
+              dynamic_friction: 0.6283083378252704
+              restitution: 0.0
+          water: {}
+  nav:
+    navmesh:
+      enabled: true
+      visualize: false
+      bake_timeout_s: 120
+      agent_height_cm: 170
+      min_agent_radius_cm: 55.0
+      max_agent_radius_cm: 55.0
+      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: true
+    occupancymap:
+      cell_size: 0.05
+task:
+  observation: {}
+  reward: {}
+  termination:
+    timeout_steps: 24000
+    success_hold_frames: 1
+  mmb:
+    task_id: N012
+    agent_id: a03
+    embodiment: stretch3
+    level: easy
+    scene_seed: 3045
+    layout:
+      S:
+      - -3.1601028590351685
+      - -1.722878094480288
+      - -2.0943951023931957
+      tables:
+        A:
+          center:
+          - -1.0
+          - 3.2
+          size:
+          - 0.9
+          - 0.6
+          top: 0.5800000000000001
+          color:
+          - 0.35
+          - 0.37
+          - 0.4
+        B:
+          center:
+          - 2.6
+          - 0.4
+          size:
+          - 0.7
+          - 1.0
+          top: 0.5800000000000001
+          color:
+          - 0.35
+          - 0.37
+          - 0.4
+      stations:
+        A:
+          table: A
+          work_point:
+          - -1.0
+          - 3.12
+          arm_dir:
+          - 0.0
+          - 1.0
+          reach: 0.8
+          fwd: -0.021
+          stand:
+          - -1.021
+          - 2.3200000000000003
+          - -3.141592653589793
+        B:
+          table: B
+          work_point:
+          - 2.45
+          - 0.4
+          arm_dir:
+          - 1.0
+          - 0.0
+          reach: 0.7
+          fwd: -0.021
+          stand:
+          - 1.7500000000000002
+          - 0.42100000000000004
+          - 1.5707963267948966
+    hold_ticks: 40
+    grace_ticks: 400
+    water_settle_ticks: 120
+    object_settle_ticks: 60
+    planning:
+      avoid:
+      - dynamic
+      ignore:
+      - squeegee
+      - water
+    water:
+      max_particles: 1500
+    platform:
+      center:
+      - 2.5
+      - 0.4
+      surface_z: 0.6000000000000001
+      drain_x: 2.7
+    puddle:
+      center:
+      - -0.04
+      - 0.0
+      size:
+      - 0.07
+      - 0.06
+      ml: 30.0
+      medium_offset:
+      - 0.02
+      - 0.05
+      hard_gap: 0.14
+    success:
+      min_in_trough: 0.7
+      max_residual: 0.15
+      max_spill: 0.1
+    tool:
+      category: squeegee
+      asset: Squeegee
+      plate_z: 0.7200000000000001
+    view:
+      eye:
+      - 3.12
+      - -0.15000000000000002
+      - 1.05
+      target:
+      - 2.58
+      - 0.4
+      - 0.6000000000000001
+    dr:
+      seed: 3045
+      spawn_dxy:
+      - -0.16
+      - 0.077
+      friction_scale:
+        platform_1: 0.954
+        rack_a0_1: 0.953
+        squeegee_1: 0.917
+        table_a_1: 1.096
+        table_b_1: 0.975
+        trough_1: 1.047
+      moved:
+        squeegee_1:
+        - 0.0014
+        - 0.0003
+        - 2.63
+      light_scale: 0.954
+collect:
+  command:
+    Squeegee:
+      stage_retries: 1
+      robot_id: 0
+      init_limit: 30
+      max_attempt: 1
+      completion_timeout_steps: 2400
+      pre_back: 0.12
+      lift: 0.1
+      carry:
+        lateral: 0.52
+        forward: 0.0
+        z: 0.85
+      blade_clearance: 0.0015
+      approach_above: 0.07
+      push:
+        x_start_world: 2.4
+        x_end_world: 2.745
+        segments: 5
+        blade_x: 0.119
+        blade_low: 0.105
+      modes:
+        pre_grasp: -1
+        grasp: 4
+        lift: 4
+        carry: -1
+        pre_push: -1
+        lower: 4
+        push: 4
+        retreat: 4
+  global_planner:
+    NavTo:
+      use_navmesh: true
+      use_absolute: true
+      translation_threshold: 0.15
+      rotation_threshold: 3.3
+      num_path_segments: 30
+      start_forward_offset: 0.0
+      visualize_path: false
+      carry_arm: true
+    NavToTrim:
+      use_navmesh: false
+      carry_arm: true
+      visualize_path: false
+      trim_pos_threshold: 0.01
+      trim_yaw_threshold: 0.015
+      max_steps: 1500
+    MobileMoveL:
+      translation_threshold: 0.008
+      rotation_threshold: 0.08
+      stall_release_ticks: 80
+      stall_release_factor: 2.5
+      motiongen_distance_threshold: 0.0
+      timeout_steps: 900
+      debug: false
+      debug_viz: false
+      debug_sphere: false
+      reactive: false
+      base_pos_threshold: 0.025
+      base_rot_threshold: 0.05
+      eef_pos_threshold: 0.03
+      eef_rot_threshold: 0.1
+      waypoint_max_steps: 30
+      interp_steps: 120
+    ParallelGripper:
+      gripper_threshold: 0.001
+  atomic_skill:
+    NavToPose:
+      robot_id: 0
+      position_threshold: 0.15
+      angle_threshold: 3.3
+      trim: true
+    Move:
+      robot_id: 0
+      hand_id: 0
+      arm_planner: MobileMoveL
+      hand_planner: ParallelGripper
+      ramp_steps: 0
+      hold_steps: 60
+      open_value: 0.0
+      close_value: 1.0
+  auto_collect:
+    task_type: squeegee
+    max_trajectories: 1
+  record:
+    output_dir: /mnt/scratch/xc536_atomic/n012_str_off_3045/out
+    formats:
+    - lerobot_v21
+    - sim_info
+    clear_buffer_on_failure: true
+    lerobot:
+      subsample_every: 2
+visual_dr:
+  keep:
+  - Water
+  - trough

N012/stretch3/dr_off/seed_3045/squeegee/000/completed/0.json

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

N012/stretch3/dr_off/seed_3045/squeegee/000/lerobot_v21/data/chunk-000/episode_000000.parquet

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+oid sha256:ed1de8641be6f4bbeee4b92e0b7d9cff7db3d07e9ac3c9dba8507beca253a01a
+size 4748521

N012/stretch3/dr_off/seed_3045/squeegee/000/lerobot_v21/meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain."], "length": 2403, "magicsim/control_steps": 4805, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown rack a0. There are a large gray table a, a large gray table b, a medium squeegee, a large brown rack a0, a medium platform and a small trough. The gray table b is to the left of the platform. The squeegee is on top of the brown rack a0. The squeegee is in front of the brown rack a0. The brown rack a0 is behind the squeegee. The platform is to the right of the trough. The trough is to the left of the platform. The scene is lit by a cool light from the back-left. The scene is viewed from back-left, slightly above table height."}

N012/stretch3/dr_off/seed_3045/squeegee/000/lerobot_v21/meta/episodes_stats.jsonl

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N012/stretch3/dr_off/seed_3045/squeegee/000/lerobot_v21/meta/extra/episode_000000.json

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+     "noun": "Hello Robot Stretch 3 mobile manipulator",
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+   "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown rack a0. There are a large gray table a, a large gray table b, a medium squeegee, a large brown rack a0, a medium platform and a small trough. The gray table b is to the left of the platform. The squeegee is on top of the brown rack a0. The squeegee is in front of the brown rack a0. The brown rack a0 is behind the squeegee. The platform is to the right of the trough. The trough is to the left of the platform. The scene is lit by a cool light from the back-left. The scene is viewed from back-left, slightly above table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                        [robot]\n\n\n\n\n\n\n[trough]rm]\n                     [[rack a0]"
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+   "instruction": "Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain.",
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+   "generic_instruction": "Squeegee the -3.141592653589793.",
+   "task_id": "N012",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
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+ "terminated": true,
+ "truncated": false
+}

N012/stretch3/dr_off/seed_3045/squeegee/000/lerobot_v21/meta/info.json

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N012/stretch3/dr_off/seed_3045/squeegee/000/lerobot_v21/meta/magicsim_manifest.json

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+{
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+    "generated": {
+        "time": "2026-11-08 11:35:41"
+    },
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+                    "dummy_base_prismatic_y_joint",
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+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
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+}

N012/stretch3/dr_off/seed_3045/squeegee/000/lerobot_v21/meta/tasks.jsonl

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+{"task_index": 0, "task": "Go to the tool rack, pick up the squeegee, carry it to the wet table, and push the water into the drain."}

N012/stretch3/dr_off/seed_3045/squeegee/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

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N012/stretch3/dr_off/seed_3045/squeegee/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

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N012/stretch3/dr_off/seed_3045/squeegee/000/run_meta.json

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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"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "HelloRobot.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HelloRobotBaseAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "HelloRobot.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "arm_action_0",
+                    "arm_action_1",
+                    "arm_action_2",
+                    "arm_action_3",
+                    "arm_action_4",
+                    "arm_action_5",
+                    "arm_action_6"
+                ],
+                "source": "HelloRobotIKAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "HelloRobot.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_pos",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_vel",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
+                "K": [
+                    [
+                        811.3606627541883,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        811.3606388722814,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 43.048473468183616,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.04977099969983101,
+                -0.002942000050097704,
+                1.2957229614257812
+            ],
+            "quat": [
+                -0.6254264116287231,
+                -0.3299117982387543,
+                0.32990962266921997,
+                0.6254276037216187
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        426.91786449658065,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        426.9178503597538,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 73.70742419505024,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.008999999612569809,
+                0.06293900310993195,
+                0.056398000568151474
+            ],
+            "quat": [
+                -1.5083966786733072e-07,
+                1.7244702803509426e-06,
+                0.9961962699890137,
+                0.08713743835687637
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "squeegee/000",
+        "task_type": "Squeegee"
+    }
+}

N021/sawyer_umi/dr_off/seed_1053/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 peg, carry it to the hole block, and insert the peg fully into the hole.'; expected 'Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1331 rows vs ceil(2662/2) = 1331"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 31..2691, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "13.28 MB, 1331 frames at 25 fps, mean luma 102..140, std 35, new picture 1330x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1331 vs 1331"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "22.71 MB, 1331 frames at 25 fps, mean luma 99..151, std 39, new picture 1330x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1331 vs 1331"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stationassembly/000/sim_info"
+  }
+ }
+}

N021/sawyer_umi/dr_off/seed_1053/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n021_saw_off_1053/out  task=N021  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n021_saw_off_1053/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1331  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: 1331 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 peg, carry it to the hole block, and insert the peg fully into the hole.'; expected 'Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.'
+rows 1331 at dataset fps 25 = 53.24 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1331 rows vs ceil(2662/2) = 1331
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..2691, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 13.28 MB, 1331 frames at 25 fps, mean luma 102..140, std 35, new picture 1330x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1331 vs 1331
+[PASS] video observation.images.wrist decodes, 640x480, not black: 22.71 MB, 1331 frames at 25 fps, mean luma 99..151, std 39, new picture 1330x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1331 vs 1331
+parquet size 2.02 MB
+[PASS] sim_info present: stationassembly/000/sim_info
+dataset size 38.19 MB; whole cell dir 39.1 MB
+RESULT: ALL PASS

N021/sawyer_umi/dr_off/seed_1053/report.json

@@ -0,0 +1,1744 @@
+{
+  "task": "N021",
+  "agent_id": null,
+  "embodiment": "sawyer_umi",
+  "level": "easy",
+  "scene_seed": 1053,
+  "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/n021_peg_insertion.yaml",
+  "full_success": true,
+  "failure_reason": null,
+  "dr": {
+    "seed": 1053,
+    "rack_peg": {
+      "dx": 0.05978,
+      "dy": 0.04286,
+      "yaw_deg": -5.78651
+    },
+    "hole_block": {
+      "dx": 0.05798,
+      "dy": 0.03695,
+      "yaw_deg": -4.39431
+    },
+    "peg_mass": 0.04214,
+    "peg_friction": 0.94632,
+    "light": 853.35398,
+    "spawn": {
+      "dx": -0.06904,
+      "dy": -0.00162,
+      "yaw_deg": 9.47796
+    },
+    "overrides": {
+      "env.scene.objects.peg_rack.common.pos": [
+        -1.94022,
+        1.34286,
+        0.43
+      ],
+      "env.scene.objects.peg_rack.common.ori": [
+        0.0,
+        0.0,
+        -5.78651
+      ],
+      "env.scene.objects.peg.common.pos": [
+        -1.94022,
+        1.34286,
+        0.511
+      ],
+      "env.scene.objects.peg.common.ori": [
+        0.0,
+        0.0,
+        84.21349
+      ],
+      "env.scene.objects.hole_block.common.pos": [
+        1.25798,
+        2.85695,
+        0.43
+      ],
+      "env.scene.objects.hole_block.common.ori": [
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+        -4.39431
+      ],
+      "env.scene.objects.peg.peg_1.physics.mass": 0.04214,
+      "env.scene.objects.peg.peg_1.physics.physics_material.static_friction": 0.94632,
+      "env.scene.objects.peg.peg_1.physics.physics_material.dynamic_friction": 0.94632,
+      "env.scene.background.intensity": [
+        853.35398,
+        853.35398
+      ],
+      "env.robot.RidgebackSawyerUmi.common.pos": [
+        [
+          -3.66904,
+          -2.50162,
+          0.06
+        ],
+        [
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+        ]
+      ],
+      "env.robot.RidgebackSawyerUmi.common.ori": [
+        [
+          0,
+          0,
+          69.47796
+        ],
+        [
+          0,
+          0,
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+        ]
+      ]
+    }
+  },
+  "planner_seeds": {
+    "label": "default",
+    "num_trajopt_seeds": null,
+    "num_ik_seeds": null,
+    "max_attempts": 6
+  },
+  "collect": {
+    "task": "N021",
+    "robot": "sawyer_umi",
+    "visual_dr": false,
+    "env": {
+      "MMB_COLLECT": "1",
+      "MMB_TASK_ID": "N021",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "0"
+    },
+    "cameras": {
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+        "pos": [
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+        ],
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+        "horizontal_aperture": 3.6,
+        "vertical_aperture": 2.7
+      },
+      "wrist": {
+        "link": "Robot_0/right_electric_gripper_base",
+        "pos": [
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+          0.0,
+          0.03
+        ],
+        "ori": [
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+        ],
+        "focal_length": 1.8,
+        "horizontal_aperture": 3.6,
+        "vertical_aperture": 2.7
+      }
+    },
+    "resolution": [
+      640,
+      480
+    ],
+    "camera_hz": 25,
+    "record": {
+      "formats": [
+        "lerobot_v21",
+        "sim_info"
+      ],
+      "clear_buffer_on_failure": true,
+      "lerobot": {
+        "subsample_every": 2
+      }
+    }
+  },
+  "steps": 2692,
+  "task_id": "N021",
+  "task_version": "EXT60-MobileAvatar-v3",
+  "family_id": "peg_insertion",
+  "primary_category": "C4",
+  "env_terminated": true,
+  "env_truncated": false,
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+      "table": "table_B"
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N021/sawyer_umi/dr_off/seed_1053/stationassembly/000/completed/0.json

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N021/sawyer_umi/dr_off/seed_1053/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json

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+     "relation": "left_of",
+     "object": "peg_rack_1"
+    },
+    {
+     "subject": "table_B_1",
+     "relation": "left_of",
+     "object": "hole_block_1"
+    },
+    {
+     "subject": "hole_block_1",
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+     "object": "table_B_1"
+    },
+    {
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+     "relation": "right_of",
+     "object": "table_B_1"
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+    {
+     "subject": "peg_1",
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+   "robots": [
+    {
+     "name": "RidgebackSawyerUmi",
+     "model": "ridgebacksawyer_umi",
+     "type": "mobilemanip",
+     "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
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+       0.0,
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+     "gripper": "parallel gripper"
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+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 853.35398,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a small peg rack, a small hole block and a small peg. The gray table A is to the left of the peg rack. The gray table B is to the left of the hole block. The hole block is on top of the gray table B. The hole block is to the right of the gray table B. The peg is on top of the peg rack. The scene is viewed from front-right, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                   [hole block]\n\n\n  [[peg]rack]\n\n\n\n\n[robot]"
+  },
+  "task": {
+   "task_type": "StationAssembly",
+   "instruction": "Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Stationassembly the 1.5707963267948966.",
+   "task_id": "N021",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {
+   "frame_0648": {
+    "frame_idx": 648,
+    "caption": "Computing a grasp pose for the small peg; the right gripper is below and to the right of and in front of the peg.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0656": {
+    "frame_idx": 656,
+    "caption": "Working on the small peg; the right gripper is below and to the right of and in front of the peg.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "right_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0715": {
+    "frame_idx": 715,
+    "caption": "Working on the small peg; the right gripper is below and in front of the peg.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
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+   },
+   "frame_0757": {
+    "frame_idx": 757,
+    "caption": "Working on the small peg; the right gripper is below the peg.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
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+   "frame_0768": {
+    "frame_idx": 768,
+    "caption": "Working on the small peg; the right gripper is below and to the left of the peg.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of"
+    ]
+   },
+   "frame_0829": {
+    "frame_idx": 829,
+    "caption": "Working on the small peg; the right gripper is below the peg.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1150": {
+    "frame_idx": 1150,
+    "caption": "Done — the small peg is grasped; the right gripper is below the peg.",
+    "skill": "Grasp",
+    "phase": "completed",
+    "skill_state": "finished",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
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+   },
+   "frame_1151": {
+    "frame_idx": 1151,
+    "caption": "Working on the small peg; the right gripper is below the peg.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1184": {
+    "frame_idx": 1184,
+    "caption": "Working on the small peg; the right gripper is below and in front of the peg.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
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+   },
+   "frame_2203": {
+    "frame_idx": 2203,
+    "caption": "Computing a grasp pose for the small hole block; the right gripper is below and to the left of and in front of the hole block.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "hole_block_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2208": {
+    "frame_idx": 2208,
+    "caption": "Working on the small hole block; the right gripper is below and to the left of and in front of the hole block.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "hole_block_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2345": {
+    "frame_idx": 2345,
+    "caption": "Working on the small hole block; the right gripper is below and in front of the hole block.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "hole_block_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_2384": {
+    "frame_idx": 2384,
+    "caption": "Working on the small hole block; the right gripper is below the hole block.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "hole_block_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_2421": {
+    "frame_idx": 2421,
+    "caption": "Working on the small hole block; the right gripper is below and in front of the hole block.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "hole_block_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_2424": {
+    "frame_idx": 2424,
+    "caption": "Computing a grasp pose for the small hole block; the right gripper is below and in front of the hole block.",
+    "skill": "ReachStance",
+    "phase": "verify",
+    "skill_state": "computing",
+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "hole_block_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_2427": {
+    "frame_idx": 2427,
+    "caption": "Working on the small peg; the right gripper is below and to the left of and behind the peg.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:pre_insert",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "peg_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
+}

N021/sawyer_umi/dr_off/seed_1053/stationassembly/000/lerobot_v21/meta/info.json

@@ -0,0 +1,282 @@
+{
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+                "right_j1",
+                "right_j2",
+                "right_j3",
+                "right_j4",
+                "right_j5",
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+                "right_gripper_r_finger_joint",
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+                "dummy_base_prismatic_y_joint",
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+                "right_j1",
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+                "right_j3",
+                "right_j4",
+                "right_j5",
+                "right_j6",
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+                "object_pose.hole_block.5",
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+                "object_pose.peg.4",
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+                "object_pose.peg.6",
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+                "object_pose.peg_rack.1",
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+                "object_pose.peg_rack.3",
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+                "object_pose.table_A.0",
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+                "object_pose.table_A.2",
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+                "object_pose.table_B.3",
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+                "video.pix_fmt": "yuv420p",
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+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
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+        },
+        "observation.images.wrist": {
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+            "shape": [
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+                640,
+                3
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+            "names": [
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+                "width",
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+                "video.fps": 25,
+                "video.codec": "libsvtav1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        }
+    }
+}

N021/sawyer_umi/dr_off/seed_1053/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,264 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 11:32:22"
+    },
+    "embodiment": {
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+}

N021/sawyer_umi/dr_off/seed_1053/stationassembly/000/lerobot_v21/meta/stats.json

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+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HolonomicAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "frame0.pos_x",
+                    "frame0.pos_y",
+                    "frame0.pos_z",
+                    "frame0.quat_w",
+                    "frame0.quat_x",
+                    "frame0.quat_y",
+                    "frame0.quat_z"
+                ],
+                "source": "PinkInverseKinematicsAction",
+                "names_source": "pink_layout"
+            },
+            {
+                "name": "RidgebackSawyerUmi.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_pos",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.gripper_pos",
+                "start": 13,
+                "end": 15,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 13,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_vel",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
+                "K": [
+                    [
+                        355.55555555555554,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        355.55555555555554,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 83.97442499163331,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.21660000085830688,
+                0.0,
+                -0.04500000178813934
+            ],
+            "quat": [
+                -0.6743797063827515,
+                0.21263112127780914,
+                -0.21263112127780914,
+                0.6743797659873962
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        320.0,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        320.0,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 90.0,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.05979999899864197,
+                0.0,
+                0.029999999329447746
+            ],
+            "quat": [
+                6.123234262925839e-17,
+                0.7071067690849304,
+                0.7071067690849304,
+                -4.329780301713277e-17
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "stationassembly/000",
+        "task_type": "StationAssembly"
+    }
+}

N021/sawyer_umi/dr_on/seed_2052/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 peg, carry it to the hole block, and insert the peg fully into the hole.'; expected 'Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1363 rows vs ceil(2725/2) = 1363"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 31..2755, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "15.46 MB, 1363 frames at 25 fps, mean luma 42..95, std 47, new picture 1362x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1363 vs 1363"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "19.53 MB, 1363 frames at 25 fps, mean luma 54..116, std 38, new picture 1362x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1363 vs 1363"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stationassembly/000/sim_info"
+  }
+ }
+}

N021/sawyer_umi/dr_on/seed_2052/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n021_saw_on_2052/out  task=N021  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n021_saw_on_2052/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1363  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: 1363 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 peg, carry it to the hole block, and insert the peg fully into the hole.'; expected 'Go to the table, pick up the peg, carry it to the hole block, and insert the peg fully into the hole.'
+rows 1363 at dataset fps 25 = 54.52 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1363 rows vs ceil(2725/2) = 1363
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..2755, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 15.46 MB, 1363 frames at 25 fps, mean luma 42..95, std 47, new picture 1362x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1363 vs 1363
+[PASS] video observation.images.wrist decodes, 640x480, not black: 19.53 MB, 1363 frames at 25 fps, mean luma 54..116, std 38, new picture 1362x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1363 vs 1363
+parquet size 2.03 MB
+[PASS] sim_info present: stationassembly/000/sim_info
+dataset size 37.20 MB; whole cell dir 38.1 MB
+RESULT: ALL PASS

N021/sawyer_umi/dr_on/seed_2052/report.json

@@ -0,0 +1,1774 @@
+{
+  "task": "N021",
+  "agent_id": null,
+  "embodiment": "sawyer_umi",
+  "level": "easy",
+  "scene_seed": 2052,
+  "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/n021_peg_insertion.yaml",
+  "full_success": true,
+  "failure_reason": null,
+  "dr": {
+    "seed": 2052,
+    "rack_peg": {
+      "dx": -0.05162,
+      "dy": 0.01464,
+      "yaw_deg": -1.99342
+    },
+    "hole_block": {
+      "dx": -0.0252,
+      "dy": -0.01526,
+      "yaw_deg": 1.15596
+    },
+    "peg_mass": 0.03759,
+    "peg_friction": 0.98484,
+    "light": 912.57634,
+    "spawn": {
+      "dx": -0.12386,
+      "dy": -0.00156,
+      "yaw_deg": -13.34843
+    },
+    "overrides": {
+      "env.scene.objects.peg_rack.common.pos": [
+        -2.05162,
+        1.31464,
+        0.43
+      ],
+      "env.scene.objects.peg_rack.common.ori": [
+        0.0,
+        0.0,
+        -1.99342
+      ],
+      "env.scene.objects.peg.common.pos": [
+        -2.05162,
+        1.31464,
+        0.511
+      ],
+      "env.scene.objects.peg.common.ori": [
+        0.0,
+        0.0,
+        88.00658
+      ],
+      "env.scene.objects.hole_block.common.pos": [
+        1.1748,
+        2.80474,
+        0.43
+      ],
+      "env.scene.objects.hole_block.common.ori": [
+        0.0,
+        0.0,
+        1.15596
+      ],
+      "env.scene.objects.peg.peg_1.physics.mass": 0.03759,
+      "env.scene.objects.peg.peg_1.physics.physics_material.static_friction": 0.98484,
+      "env.scene.objects.peg.peg_1.physics.physics_material.dynamic_friction": 0.98484,
+      "env.scene.background.intensity": [
+        912.57634,
+        912.57634
+      ],
+      "env.robot.RidgebackSawyerUmi.common.pos": [
+        [
+          -3.72386,
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+          0.06
+        ],
+        [
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+      ],
+      "env.robot.RidgebackSawyerUmi.common.ori": [
+        [
+          0,
+          0,
+          46.65157
+        ],
+        [
+          0,
+          0,
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+      ]
+    }
+  },
+  "planner_seeds": {
+    "label": "default",
+    "num_trajopt_seeds": null,
+    "num_ik_seeds": null,
+    "max_attempts": 6
+  },
+  "collect": {
+    "task": "N021",
+    "robot": "sawyer_umi",
+    "visual_dr": true,
+    "env": {
+      "MMB_COLLECT": "1",
+      "MMB_TASK_ID": "N021",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "1"
+    },
+    "cameras": {
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+        "link": "Robot_0/head",
+        "pos": [
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+        ],
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+        "horizontal_aperture": 3.6,
+        "vertical_aperture": 2.7
+      },
+      "wrist": {
+        "link": "Robot_0/right_electric_gripper_base",
+        "pos": [
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+          0.0,
+          0.03
+        ],
+        "ori": [
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+        "focal_length": 1.8,
+        "horizontal_aperture": 3.6,
+        "vertical_aperture": 2.7
+      }
+    },
+    "resolution": [
+      640,
+      480
+    ],
+    "camera_hz": 25,
+    "record": {
+      "formats": [
+        "lerobot_v21",
+        "sim_info"
+      ],
+      "clear_buffer_on_failure": true,
+      "lerobot": {
+        "subsample_every": 2
+      }
+    }
+  },
+  "steps": 2755,
+  "task_id": "N021",
+  "task_version": "EXT60-MobileAvatar-v3",
+  "family_id": "peg_insertion",
+  "primary_category": "C4",
+  "env_terminated": true,
+  "env_truncated": false,
+  "station_layout": {
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+      "table": "table_B"
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N021/sawyer_umi/dr_on/seed_2052/stationassembly/000/completed/0.json

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