add N004/go2_arm/dr_off/seed_1004

N004/go2_arm/dr_off/seed_1004/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 holder, pick up the coin, carry it to the piggy banks, and drop it through the slot of the bank the person is pointing at.'; expected 'Go to the holder, pick up the coin, carry it to the piggy banks, and drop it through the slot of the bank the person is pointing at.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "2392 rows vs ceil(4783/2) = 2392"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 81..4863, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "15.34 MB, 2392 frames at 25 fps, mean luma 88..159, std 24, new picture 2391x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "2392 vs 2392"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "45.25 MB, 2392 frames at 25 fps, mean luma 116..192, std 31, new picture 2391x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "2392 vs 2392"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "coinchain/000/sim_info"
+  }
+ }
+}

N004/go2_arm/dr_off/seed_1004/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n004_go2_off_1004/out  task=N004  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n004_go2_off_1004/out/coinchain/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 2392  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: 2392 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 holder, pick up the coin, carry it to the piggy banks, and drop it through the slot of the bank the person is pointing at.'; expected 'Go to the holder, pick up the coin, carry it to the piggy banks, and drop it through the slot of the bank the person is pointing at.'
+rows 2392 at dataset fps 25 = 95.68 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2392 rows vs ceil(4783/2) = 2392
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 81..4863, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 15.34 MB, 2392 frames at 25 fps, mean luma 88..159, std 24, new picture 2391x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 2392 vs 2392
+[PASS] video observation.images.wrist decodes, 640x480, not black: 45.25 MB, 2392 frames at 25 fps, mean luma 116..192, std 31, new picture 2391x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 2392 vs 2392
+parquet size 4.60 MB
+[PASS] sim_info present: coinchain/000/sim_info
+dataset size 65.64 MB; whole cell dir 68.2 MB
+RESULT: ALL PASS

N004/go2_arm/dr_off/seed_1004/coinchain/000/completed/0.json

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

N004/go2_arm/dr_off/seed_1004/coinchain/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a79c19043ce9c1599de7e5fb221fd872332fc7539977b62594f3f65f3f964a01
+size 4597459

N004/go2_arm/dr_off/seed_1004/coinchain/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the holder, pick up the coin, carry it to the piggy banks, and drop it through the slot of the bank the person is pointing at."], "length": 2392, "magicsim/control_steps": 4783, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the red bank left wall n. There are a large gray table A, a large gray table B, a large gray holder rail l, a large gray holder rail r, a large red bank left floor, a large red bank left wall n, a large red bank left wall s, a large red bank left wall e, a large red bank left wall w, a large red bank left plate n, a large red bank left plate s, a large red bank left plate e, a large red bank left plate w, a large gray bank right floor, a large gray bank right wall n, a large gray bank right wall s, a large gray bank right wall e, a large gray bank right wall w, a large gray bank right plate n, a large gray bank right plate s, a large gray bank right plate e, a large gray bank right plate w and a small orange coin. The gray table A is in front of the gray holder rail r. The gray table B is to the right of the red bank left wall s. The red bank left floor is to the right of the red bank left wall n. The red bank left plate n is on top of the red bank left wall n. The red bank left plate s is on top of the red bank left wall s. The red bank left plate e is on top of the red bank left wall e. The red bank left plate w is on top of the red bank left wall w. The gray bank right floor is to the right of the gray bank right wall n. The gray bank right plate n is on top of the gray bank right wall n. The gray bank right plate s is on top of the gray bank right wall s. The gray bank right plate e is on top of the gray bank right wall e. The gray bank right plate w is on top of the gray bank right wall w. The scene is viewed from front-left, at table height."}

N004/go2_arm/dr_off/seed_1004/coinchain/000/lerobot_v21/meta/extra/episode_000000.json

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+{
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+ "subsample_every": 2,
+ "control_steps": 4783,
+ "language": {
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+     "size": "large",
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+     "object": "holder_rail_r_1"
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+    {
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+     "relation": "right_of",
+     "object": "bank_left_wall_s_1"
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+    {
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+     "relation": "right_of",
+     "object": "bank_left_wall_n_1"
+    },
+    {
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+     "relation": "on_top_of",
+     "object": "bank_left_wall_n_1"
+    },
+    {
+     "subject": "bank_left_plate_s_1",
+     "relation": "on_top_of",
+     "object": "bank_left_wall_s_1"
+    },
+    {
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+     "relation": "on_top_of",
+     "object": "bank_left_wall_e_1"
+    },
+    {
+     "subject": "bank_left_plate_w_1",
+     "relation": "on_top_of",
+     "object": "bank_left_wall_w_1"
+    },
+    {
+     "subject": "bank_right_floor_1",
+     "relation": "right_of",
+     "object": "bank_right_wall_n_1"
+    },
+    {
+     "subject": "bank_right_plate_n_1",
+     "relation": "on_top_of",
+     "object": "bank_right_wall_n_1"
+    },
+    {
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+     "relation": "on_top_of",
+     "object": "bank_right_wall_s_1"
+    },
+    {
+     "subject": "bank_right_plate_e_1",
+     "relation": "on_top_of",
+     "object": "bank_right_wall_e_1"
+    },
+    {
+     "subject": "bank_right_plate_w_1",
+     "relation": "on_top_of",
+     "object": "bank_right_wall_w_1"
+    }
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+     "viewpoint": "front-left, at table height",
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+   ],
+   "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": {
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+     "facing_yaw_deg": -10.845678718915446,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1000.0,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the red bank left wall n. There are a large gray table A, a large gray table B, a large gray holder rail l, a large gray holder rail r, a large red bank left floor, a large red bank left wall n, a large red bank left wall s, a large red bank left wall e, a large red bank left wall w, a large red bank left plate n, a large red bank left plate s, a large red bank left plate e, a large red bank left plate w, a large gray bank right floor, a large gray bank right wall n, a large gray bank right wall s, a large gray bank right wall e, a large gray bank right wall w, a large gray bank right plate n, a large gray bank right plate s, a large gray bank right plate e, a large gray bank right plate w and a small orange coin. The gray table A is in front of the gray holder rail r. The gray table B is to the right of the red bank left wall s. The red bank left floor is to the right of the red bank left wall n. The red bank left plate n is on top of the red bank left wall n. The red bank left plate s is on top of the red bank left wall s. The red bank left plate e is on top of the red bank left wall e. The red bank left plate w is on top of the red bank left wall w. The gray bank right floor is to the right of the gray bank right wall n. The gray bank right plate n is on top of the gray bank right wall n. The gray bank right plate s is on top of the gray bank right wall s. The gray bank right plate e is on top of the gray bank right wall e. The gray bank right plate w is on top of the gray bank right wall w. The scene is viewed from front-left, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                [holder [coin]]\n[ba[bank right plate w]\n[bank left plate w]\n\n\n\n\n\n                        [robot]"
+  },
+  "task": {
+   "task_type": "CoinChain",
+   "instruction": "Go to the holder, pick up the coin, carry it to the piggy banks, and drop it through the slot of the bank the person is pointing at.",
+   "template_id": -1,
+   "slots": {
+    "obj": 0.0,
+    "support": null
+   },
+   "generic_instruction": "Coinchain the object.",
+   "task_id": "N004",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {}
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N004/go2_arm/dr_off/seed_1004/coinchain/000/lerobot_v21/meta/info.json

@@ -0,0 +1,1148 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "Go2PlusCfg",
+    "total_episodes": 1,
+    "total_frames": 2392,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
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+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
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+                "eef0.pos_z",
+                "eef0.quat_w",
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+                "eef0.quat_y",
+                "eef0.quat_z",
+                "gripper"
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+                "joint_3",
+                "joint_4",
+                "joint_5",
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+                "joint_12",
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+                "joint_19",
+                "joint_20",
+                "joint_21",
+                "joint_22",
+                "joint_23",
+                "gripper_0",
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+            "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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+                "avatar_motion.Person.joint_rot.343",
+                "avatar_motion.Person.joint_rot.344",
+                "avatar_motion.Person.joint_rot.345",
+                "avatar_motion.Person.joint_rot.346",
+                "avatar_motion.Person.joint_rot.347",
+                "avatar_motion.Person.joint_rot.348",
+                "avatar_motion.Person.joint_rot.349",
+                "avatar_motion.Person.joint_rot.350",
+                "avatar_motion.Person.joint_rot.351",
+                "avatar_motion.Person.joint_rot.352",
+                "avatar_motion.Person.joint_rot.353",
+                "avatar_motion.Person.joint_rot.354",
+                "avatar_motion.Person.joint_rot.355",
+                "avatar_motion.Person.joint_rot.356",
+                "avatar_motion.Person.joint_rot.357",
+                "avatar_motion.Person.joint_rot.358",
+                "avatar_motion.Person.joint_rot.359",
+                "avatar_motion.Person.joint_rot.360",
+                "avatar_motion.Person.joint_rot.361",
+                "avatar_motion.Person.joint_rot.362",
+                "avatar_motion.Person.joint_rot.363",
+                "avatar_motion.Person.joint_rot.364",
+                "avatar_motion.Person.joint_rot.365",
+                "avatar_motion.Person.joint_rot.366",
+                "avatar_motion.Person.joint_rot.367",
+                "avatar_motion.Person.joint_rot.368",
+                "avatar_motion.Person.joint_rot.369",
+                "avatar_motion.Person.joint_rot.370",
+                "avatar_motion.Person.joint_rot.371",
+                "avatar_motion.Person.joint_rot.372",
+                "avatar_motion.Person.joint_rot.373",
+                "avatar_motion.Person.joint_rot.374",
+                "avatar_motion.Person.joint_rot.375",
+                "avatar_motion.Person.joint_rot.376",
+                "avatar_motion.Person.joint_rot.377",
+                "avatar_motion.Person.joint_rot.378",
+                "avatar_motion.Person.joint_rot.379",
+                "avatar_motion.Person.joint_rot.380",
+                "avatar_motion.Person.joint_rot.381",
+                "avatar_motion.Person.joint_rot.382",
+                "avatar_motion.Person.joint_rot.383",
+                "avatar_motion.Person.joint_rot.384",
+                "avatar_motion.Person.joint_rot.385",
+                "avatar_motion.Person.joint_rot.386",
+                "avatar_motion.Person.joint_rot.387",
+                "avatar_motion.Person.joint_rot.388",
+                "avatar_motion.Person.joint_rot.389",
+                "avatar_motion.Person.joint_rot.390",
+                "avatar_motion.Person.joint_rot.391",
+                "avatar_motion.Person.joint_rot.392",
+                "avatar_motion.Person.joint_rot.393",
+                "avatar_motion.Person.joint_rot.394",
+                "avatar_motion.Person.joint_rot.395",
+                "avatar_motion.Person.joint_rot.396",
+                "avatar_motion.Person.joint_rot.397",
+                "avatar_motion.Person.joint_rot.398",
+                "avatar_motion.Person.joint_rot.399",
+                "avatar_motion.Person.joint_rot.400",
+                "avatar_motion.Person.joint_rot.401",
+                "avatar_motion.Person.joint_rot.402",
+                "avatar_motion.Person.joint_rot.403",
+                "avatar_motion.Person.root.0",
+                "avatar_motion.Person.root.1",
+                "avatar_motion.Person.root.2",
+                "avatar_motion.Person.root.3",
+                "avatar_motion.Person.root.4",
+                "avatar_motion.Person.root.5",
+                "avatar_motion.Person.root.6",
+                "base_pose.0",
+                "base_pose.1",
+                "base_pose.2",
+                "base_pose.3",
+                "base_pose.4",
+                "base_pose.5",
+                "base_pose.6",
+                "object_pose.bank_left_floor.0",
+                "object_pose.bank_left_floor.1",
+                "object_pose.bank_left_floor.2",
+                "object_pose.bank_left_floor.3",
+                "object_pose.bank_left_floor.4",
+                "object_pose.bank_left_floor.5",
+                "object_pose.bank_left_floor.6",
+                "object_pose.bank_left_plate_e.0",
+                "object_pose.bank_left_plate_e.1",
+                "object_pose.bank_left_plate_e.2",
+                "object_pose.bank_left_plate_e.3",
+                "object_pose.bank_left_plate_e.4",
+                "object_pose.bank_left_plate_e.5",
+                "object_pose.bank_left_plate_e.6",
+                "object_pose.bank_left_plate_n.0",
+                "object_pose.bank_left_plate_n.1",
+                "object_pose.bank_left_plate_n.2",
+                "object_pose.bank_left_plate_n.3",
+                "object_pose.bank_left_plate_n.4",
+                "object_pose.bank_left_plate_n.5",
+                "object_pose.bank_left_plate_n.6",
+                "object_pose.bank_left_plate_s.0",
+                "object_pose.bank_left_plate_s.1",
+                "object_pose.bank_left_plate_s.2",
+                "object_pose.bank_left_plate_s.3",
+                "object_pose.bank_left_plate_s.4",
+                "object_pose.bank_left_plate_s.5",
+                "object_pose.bank_left_plate_s.6",
+                "object_pose.bank_left_plate_w.0",
+                "object_pose.bank_left_plate_w.1",
+                "object_pose.bank_left_plate_w.2",
+                "object_pose.bank_left_plate_w.3",
+                "object_pose.bank_left_plate_w.4",
+                "object_pose.bank_left_plate_w.5",
+                "object_pose.bank_left_plate_w.6",
+                "object_pose.bank_left_wall_e.0",
+                "object_pose.bank_left_wall_e.1",
+                "object_pose.bank_left_wall_e.2",
+                "object_pose.bank_left_wall_e.3",
+                "object_pose.bank_left_wall_e.4",
+                "object_pose.bank_left_wall_e.5",
+                "object_pose.bank_left_wall_e.6",
+                "object_pose.bank_left_wall_n.0",
+                "object_pose.bank_left_wall_n.1",
+                "object_pose.bank_left_wall_n.2",
+                "object_pose.bank_left_wall_n.3",
+                "object_pose.bank_left_wall_n.4",
+                "object_pose.bank_left_wall_n.5",
+                "object_pose.bank_left_wall_n.6",
+                "object_pose.bank_left_wall_s.0",
+                "object_pose.bank_left_wall_s.1",
+                "object_pose.bank_left_wall_s.2",
+                "object_pose.bank_left_wall_s.3",
+                "object_pose.bank_left_wall_s.4",
+                "object_pose.bank_left_wall_s.5",
+                "object_pose.bank_left_wall_s.6",
+                "object_pose.bank_left_wall_w.0",
+                "object_pose.bank_left_wall_w.1",
+                "object_pose.bank_left_wall_w.2",
+                "object_pose.bank_left_wall_w.3",
+                "object_pose.bank_left_wall_w.4",
+                "object_pose.bank_left_wall_w.5",
+                "object_pose.bank_left_wall_w.6",
+                "object_pose.bank_right_floor.0",
+                "object_pose.bank_right_floor.1",
+                "object_pose.bank_right_floor.2",
+                "object_pose.bank_right_floor.3",
+                "object_pose.bank_right_floor.4",
+                "object_pose.bank_right_floor.5",
+                "object_pose.bank_right_floor.6",
+                "object_pose.bank_right_plate_e.0",
+                "object_pose.bank_right_plate_e.1",
+                "object_pose.bank_right_plate_e.2",
+                "object_pose.bank_right_plate_e.3",
+                "object_pose.bank_right_plate_e.4",
+                "object_pose.bank_right_plate_e.5",
+                "object_pose.bank_right_plate_e.6",
+                "object_pose.bank_right_plate_n.0",
+                "object_pose.bank_right_plate_n.1",
+                "object_pose.bank_right_plate_n.2",
+                "object_pose.bank_right_plate_n.3",
+                "object_pose.bank_right_plate_n.4",
+                "object_pose.bank_right_plate_n.5",
+                "object_pose.bank_right_plate_n.6",
+                "object_pose.bank_right_plate_s.0",
+                "object_pose.bank_right_plate_s.1",
+                "object_pose.bank_right_plate_s.2",
+                "object_pose.bank_right_plate_s.3",
+                "object_pose.bank_right_plate_s.4",
+                "object_pose.bank_right_plate_s.5",
+                "object_pose.bank_right_plate_s.6",
+                "object_pose.bank_right_plate_w.0",
+                "object_pose.bank_right_plate_w.1",
+                "object_pose.bank_right_plate_w.2",
+                "object_pose.bank_right_plate_w.3",
+                "object_pose.bank_right_plate_w.4",
+                "object_pose.bank_right_plate_w.5",
+                "object_pose.bank_right_plate_w.6",
+                "object_pose.bank_right_wall_e.0",
+                "object_pose.bank_right_wall_e.1",
+                "object_pose.bank_right_wall_e.2",
+                "object_pose.bank_right_wall_e.3",
+                "object_pose.bank_right_wall_e.4",
+                "object_pose.bank_right_wall_e.5",
+                "object_pose.bank_right_wall_e.6",
+                "object_pose.bank_right_wall_n.0",
+                "object_pose.bank_right_wall_n.1",
+                "object_pose.bank_right_wall_n.2",
+                "object_pose.bank_right_wall_n.3",
+                "object_pose.bank_right_wall_n.4",
+                "object_pose.bank_right_wall_n.5",
+                "object_pose.bank_right_wall_n.6",
+                "object_pose.bank_right_wall_s.0",
+                "object_pose.bank_right_wall_s.1",
+                "object_pose.bank_right_wall_s.2",
+                "object_pose.bank_right_wall_s.3",
+                "object_pose.bank_right_wall_s.4",
+                "object_pose.bank_right_wall_s.5",
+                "object_pose.bank_right_wall_s.6",
+                "object_pose.bank_right_wall_w.0",
+                "object_pose.bank_right_wall_w.1",
+                "object_pose.bank_right_wall_w.2",
+                "object_pose.bank_right_wall_w.3",
+                "object_pose.bank_right_wall_w.4",
+                "object_pose.bank_right_wall_w.5",
+                "object_pose.bank_right_wall_w.6",
+                "object_pose.coin.0",
+                "object_pose.coin.1",
+                "object_pose.coin.2",
+                "object_pose.coin.3",
+                "object_pose.coin.4",
+                "object_pose.coin.5",
+                "object_pose.coin.6",
+                "object_pose.holder_rail_l.0",
+                "object_pose.holder_rail_l.1",
+                "object_pose.holder_rail_l.2",
+                "object_pose.holder_rail_l.3",
+                "object_pose.holder_rail_l.4",
+                "object_pose.holder_rail_l.5",
+                "object_pose.holder_rail_l.6",
+                "object_pose.holder_rail_r.0",
+                "object_pose.holder_rail_r.1",
+                "object_pose.holder_rail_r.2",
+                "object_pose.holder_rail_r.3",
+                "object_pose.holder_rail_r.4",
+                "object_pose.holder_rail_r.5",
+                "object_pose.holder_rail_r.6",
+                "object_pose.table_A.0",
+                "object_pose.table_A.1",
+                "object_pose.table_A.2",
+                "object_pose.table_A.3",
+                "object_pose.table_A.4",
+                "object_pose.table_A.5",
+                "object_pose.table_A.6",
+                "object_pose.table_B.0",
+                "object_pose.table_B.1",
+                "object_pose.table_B.2",
+                "object_pose.table_B.3",
+                "object_pose.table_B.4",
+                "object_pose.table_B.5",
+                "object_pose.table_B.6"
+            ]
+        },
+        "action.command": {
+            "dtype": "float32",
+            "shape": [
+                1152
+            ],
+            "names": null
+        },
+        "action.applied": {
+            "dtype": "float32",
+            "shape": [
+                20
+            ],
+            "names": null
+        },
+        "narration": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "collect_info": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "extra.reward": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "extra.action_info": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.truncated": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "sim_step_idx": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25,
+                "video.codec": "libsvtav1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25,
+                "video.codec": "libsvtav1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        }
+    }
+}

N004/go2_arm/dr_off/seed_1004/coinchain/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,290 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-09 18:14:42"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "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"
+                ]
+            }
+        ]
+    },
+    "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": 12,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "Go2Plus.base_action",
+                "start": 0,
+                "end": 4,
+                "names": [
+                    "base_action_0",
+                    "base_action_1",
+                    "base_action_2",
+                    "base_action_3"
+                ],
+                "source": "Go2UnifiedLocomotionAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "Go2Plus.arm_action",
+                "start": 4,
+                "end": 11,
+                "names": [
+                    "eef0.pos_x",
+                    "eef0.pos_y",
+                    "eef0.pos_z",
+                    "eef0.quat_w",
+                    "eef0.quat_x",
+                    "eef0.quat_y",
+                    "eef0.quat_z"
+                ],
+                "source": "Go2PlusCuroboIKAction",
+                "names_source": "pose_layout"
+            },
+            {
+                "name": "Go2Plus.eef_action",
+                "start": 11,
+                "end": 12,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 26,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_pos",
+                "start": 0,
+                "end": 24,
+                "names": [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11",
+                    "joint_12",
+                    "joint_13",
+                    "joint_14",
+                    "joint_15",
+                    "joint_16",
+                    "joint_17",
+                    "joint_18",
+                    "joint_19",
+                    "joint_20",
+                    "joint_21",
+                    "joint_22",
+                    "joint_23"
+                ],
+                "source": "ObservationManager",
+                "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)"
+            },
+            {
+                "name": "Go2Plus.gripper_pos",
+                "start": 24,
+                "end": 26,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 20,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_vel",
+                "start": 0,
+                "end": 20,
+                "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"
+                ],
+                "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": [
+                    [
+                        607.7061061683956,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        607.3754374751866,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 55.53991912549515,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.33205100893974304,
+                0.038026999682188034,
+                0.09355899691581726
+            ],
+            "quat": [
+                -0.5022302269935608,
+                -0.499491810798645,
+                0.5120040774345398,
+                0.4859265089035034
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        617.2500342478374,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        617.548655622722,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 54.807019583348044,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                -0.0749870017170906,
+                0.005288999993354082,
+                0.04582099989056587
+            ],
+            "quat": [
+                0.1271296590566635,
+                0.701795220375061,
+                -0.6904057860374451,
+                -0.12108422070741653
+            ]
+        }
+    },
+    "lerobot": {
+        "codebase_version": "v2.1",
+        "video_keys": [
+            "observation.images.head",
+            "observation.images.wrist"
+        ],
+        "columns": [
+            "action",
+            "action.applied",
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+            "action_is_hold",
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+}

N004/go2_arm/dr_off/seed_1004/coinchain/000/lerobot_v21/meta/tasks.jsonl

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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)"
+    },
+    "cameras": {
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+    "generated_run": {
+        "run_id": "coinchain/000",
+        "task_type": "MmbChain"
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+}

N004/go2_arm/dr_off/seed_1004/report.json

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+{
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+ "run": "n004_coin_bank-1109-174835",
+ "task": "N004",
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+ "reports": [
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+ ],
+ "failure_reasons": [
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+   "clear_buffer_on_failure": true,
+   "lerobot": {
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+ }
+}

N004/go2_arm/dr_off/seed_1004/reports/N004_easy_s1004_e1_1109-181437.json

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+}