add 31 staged episodes

N025/go2_arm/dr_off/seed_1016/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1707 rows vs ceil(3413/2) = 1707"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 31..3443, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "18.09 MB, 1707 frames at 25 fps, mean luma 111..142, std 24, new picture 1706x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1707 vs 1707"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "26.51 MB, 1707 frames at 25 fps, mean luma 113..173, std 30, new picture 1706x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1707 vs 1707"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stationassembly/000/sim_info"
+  }
+ }
+}

N025/go2_arm/dr_off/seed_1016/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n025_go2_off_1016/out  task=N025  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n025_go2_off_1016/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1707  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: 1707 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']
+[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'
+rows 1707 at dataset fps 25 = 68.28 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1707 rows vs ceil(3413/2) = 1707
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..3443, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 18.09 MB, 1707 frames at 25 fps, mean luma 111..142, std 24, new picture 1706x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1707 vs 1707
+[PASS] video observation.images.wrist decodes, 640x480, not black: 26.51 MB, 1707 frames at 25 fps, mean luma 113..173, std 30, new picture 1706x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1707 vs 1707
+parquet size 19.67 MB
+[PASS] sim_info present: stationassembly/000/sim_info
+dataset size 64.52 MB; whole cell dir 66.0 MB
+RESULT: ALL PASS

N025/go2_arm/dr_off/seed_1016/report.json

@@ -0,0 +1,2124 @@
+{
+  "task": "N025",
+  "agent_id": null,
+  "embodiment": "go2_arm",
+  "level": "easy",
+  "scene_seed": 1016,
+  "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)",
+  "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml",
+  "full_success": true,
+  "failure_reason": null,
+  "dr": {
+    "seed": 1016,
+    "wedge": {
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+      "dy": 0.03336,
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+  "planner_seeds": {
+    "label": "lean",
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+    "max_attempts": 6
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+      "MMB_REAL_ROBOT_LOOK": "1",
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+      "clear_buffer_on_failure": true,
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+  "task_id": "N025",
+  "task_version": "EXT60-MobileAvatar-v3",
+  "family_id": "wedge_support",
+  "primary_category": "C4",
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N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json

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+     "relation": "left_of",
+     "object": "wedge_1"
+    },
+    {
+     "subject": "table_B_1",
+     "relation": "right_of",
+     "object": "shim_board_1"
+    },
+    {
+     "subject": "shim_board_1",
+     "relation": "on_top_of",
+     "object": "table_B_1"
+    },
+    {
+     "subject": "shim_board_1",
+     "relation": "left_of",
+     "object": "table_B_1"
+    },
+    {
+     "subject": "wedge_1",
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+     "object": "table_A_1"
+    },
+    {
+     "subject": "wedge_1",
+     "relation": "right_of",
+     "object": "table_A_1"
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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": {
+      "pos": [
+       -3.62411,
+       -2.46551,
+       0.45
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+      "ori": [
+       0.8717899918556213,
+       0.0,
+       0.0,
+       0.4898797869682312
+      ]
+     },
+     "facing_yaw_deg": 58.665361182700735,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1153.61472,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is to the left of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is to the right of the gray table A. The scene is viewed from front-right, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                   [shim board]\n\n\n[[wedge]]\n\n\n\n\n          [robot]"
+  },
+  "task": {
+   "task_type": "StationAssembly",
+   "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Stationassembly the 1.5707963267948966.",
+   "task_id": "N025",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {
+   "frame_0564": {
+    "frame_idx": 564,
+    "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0601": {
+    "frame_idx": 601,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0965": {
+    "frame_idx": 965,
+    "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "verify",
+    "skill_state": "computing",
+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_1031": {
+    "frame_idx": 1031,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_1066": {
+    "frame_idx": 1066,
+    "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_1077": {
+    "frame_idx": 1077,
+    "caption": "Working on the small wedge; the right gripper is below the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1408": {
+    "frame_idx": 1408,
+    "caption": "Done — the small wedge is grasped; the right gripper is below the wedge.",
+    "skill": "Grasp",
+    "phase": "completed",
+    "skill_state": "finished",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1409": {
+    "frame_idx": 1409,
+    "caption": "Working on the small wedge; the right gripper is below the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_1457": {
+    "frame_idx": 1457,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of"
+    ]
+   },
+   "frame_1459": {
+    "frame_idx": 1459,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2201": {
+    "frame_idx": 2201,
+    "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2206": {
+    "frame_idx": 2206,
+    "caption": "Working on the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2952": {
+    "frame_idx": 2952,
+    "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "verify",
+    "skill_state": "computing",
+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_3018": {
+    "frame_idx": 3018,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and behind the wedge.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:pre_insert",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "behind"
+    ]
+   }
+  }
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/info.json

@@ -0,0 +1,296 @@
+{
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+    "robot_type": "Go2PlusCfg",
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+                "joint_4",
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+                "go2_FR_hip_joint",
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+                "go2_RR_hip_joint",
+                "piper_joint1",
+                "go2_FL_thigh_joint",
+                "go2_FR_thigh_joint",
+                "go2_RL_thigh_joint",
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+                "go2_FL_calf_joint",
+                "go2_FR_calf_joint",
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+                "piper_joint3",
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+                "articulation_pose.shim_board.4",
+                "articulation_pose.shim_board.5",
+                "articulation_pose.shim_board.6",
+                "object_pose.table_A.0",
+                "object_pose.table_A.1",
+                "object_pose.table_A.2",
+                "object_pose.table_A.3",
+                "object_pose.table_A.4",
+                "object_pose.table_A.5",
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+                "object_pose.table_B.0",
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+                "object_pose.table_B.3",
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+                "object_pose.table_B.6",
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+                "object_pose.wedge.1",
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+                "object_pose.wedge.3",
+                "object_pose.wedge.4",
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+                "width",
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+                "video.codec": "libsvtav1",
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+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
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+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
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+            "info": {
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+            }
+        }
+    }
+}

N025/go2_arm/dr_off/seed_1016/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,290 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 03:12:42"
+    },
+    "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",
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+}

N025/go2_arm/dr_off/seed_1016/stationassembly/000/sim_info/0/sim_states.npz

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+size 775103

N025/go2_arm/dr_off/seed_1016/stationassembly/000/sim_info/magicsim_manifest.json

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+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 03:13:05"
+    },
+    "embodiment": {
+        "robots": [
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+                "name": "Go2Plus",
+                "cfg": "Go2PlusCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
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+                    "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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+        ]
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+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 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",
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+                    "eef0.quat_x",
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+                "names_source": "pose_layout"
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+                    "joint_0",
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+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
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+                    "joint_18",
+                    "joint_19",
+                    "joint_20",
+                    "joint_21",
+                    "joint_22",
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+                "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)"
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+                "start": 24,
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+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
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+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
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+                    "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": {
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+        "task_type": "StationAssembly"
+    }
+}

N025/go2_arm/dr_on/seed_2015/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "3150 rows vs ceil(6299/2) = 3150"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 31..6329, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "26.45 MB, 3150 frames at 25 fps, mean luma 96..137, std 32, new picture 3149x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "3150 vs 3150"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "50.73 MB, 3150 frames at 25 fps, mean luma 107..171, std 31, new picture 3149x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "3150 vs 3150"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stationassembly/000/sim_info"
+  }
+ }
+}

N025/go2_arm/dr_on/seed_2015/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n025_go2_on_2015_r1/out  task=N025  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n025_go2_on_2015_r1/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 3150  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: 3150 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']
+[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'
+rows 3150 at dataset fps 25 = 126.00 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3150 rows vs ceil(6299/2) = 3150
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..6329, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 26.45 MB, 3150 frames at 25 fps, mean luma 96..137, std 32, new picture 3149x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 3150 vs 3150
+[PASS] video observation.images.wrist decodes, 640x480, not black: 50.73 MB, 3150 frames at 25 fps, mean luma 107..171, std 31, new picture 3149x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 3150 vs 3150
+parquet size 48.16 MB
+[PASS] sim_info present: stationassembly/000/sim_info
+dataset size 125.57 MB; whole cell dir 127.9 MB
+RESULT: ALL PASS

N025/go2_arm/dr_on/seed_2015/report.json

@@ -0,0 +1,2412 @@
+{
+  "task": "N025",
+  "agent_id": null,
+  "embodiment": "go2_arm",
+  "level": "easy",
+  "scene_seed": 2015,
+  "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)",
+  "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml",
+  "full_success": true,
+  "failure_reason": null,
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+  "task_id": "N025",
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+}

N025/go2_arm/dr_on/seed_2015/stationassembly/000/completed/0.json

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N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,624 @@
+{
+ "episode_index": 0,
+ "trajectory_id": 0,
+ "env_id": 0,
+ "task_type": "StationAssembly",
+ "subsample_every": 2,
+ "control_steps": 6299,
+ "language": {
+  "scene": {
+   "objects": [
+    {
+     "id": "table_A_1",
+     "cat_name": "table_A",
+     "inst_id": 1,
+     "noun": "table A",
+     "color": "gray",
+     "size": "large",
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+     "category": "geometry",
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+    {
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+     "cat_name": "table_B",
+     "inst_id": 1,
+     "noun": "table B",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
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+    },
+    {
+     "id": "shim_board_1",
+     "cat_name": "shim_board",
+     "inst_id": 1,
+     "noun": "shim board",
+     "color": null,
+     "size": "medium",
+     "material": null,
+     "category": "articulation",
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+     }
+    },
+    {
+     "id": "wedge_1",
+     "cat_name": "wedge",
+     "inst_id": 1,
+     "noun": "wedge",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "rigid",
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+   "relations": [
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+     "subject": "table_A_1",
+     "relation": "left_of",
+     "object": "wedge_1"
+    },
+    {
+     "subject": "table_B_1",
+     "relation": "behind",
+     "object": "shim_board_1"
+    },
+    {
+     "subject": "shim_board_1",
+     "relation": "on_top_of",
+     "object": "table_B_1"
+    },
+    {
+     "subject": "shim_board_1",
+     "relation": "in_front_of",
+     "object": "table_B_1"
+    },
+    {
+     "subject": "wedge_1",
+     "relation": "on_top_of",
+     "object": "table_A_1"
+    },
+    {
+     "subject": "wedge_1",
+     "relation": "right_of",
+     "object": "table_A_1"
+    }
+   ],
+   "cameras": [
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+     "name": "head",
+     "intrinsics": {
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+     "viewpoint": "front-right, at table height",
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+     }
+    },
+    {
+     "name": "wrist",
+     "intrinsics": {
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+        320.0
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+       [
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+      "fov_h_deg": 54.807019583348044,
+      "resolution": [
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+       480
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+     "pos_robot": [
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+     "viewpoint": "front-right, at table height",
+     "extrinsics": {
+      "R": [
+       [
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+        0.005589449560045617
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+       [
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+        -0.014355819960515381,
+        0.34563246061317376
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+        -0.011243480820582297,
+        -0.9383533237667454
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+      "t": [
+       0.006333551580298355,
+       -0.08611861262827436,
+       0.017148138726427706
+      ]
+     }
+    }
+   ],
+   "robots": [
+    {
+     "name": "Go2Plus",
+     "model": "go2plus",
+     "type": "mobilemanip",
+     "noun": "Unitree Go2 EDU quadruped with a Piper arm",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
+       -3.54231,
+       -2.41628,
+       0.45
+      ],
+      "ori": [
+       0.8679872751235962,
+       0.0,
+       0.0,
+       0.496586412191391
+      ]
+     },
+     "facing_yaw_deg": 59.54882889661187,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 814.51721,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is to the left of the wedge. The gray table B is behind the shim board. The shim board is on top of the gray table B. The shim board is in front of the gray table B. The wedge is on top of the gray table A. The wedge is to the right of the gray table A. The scene is viewed from front-right, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                   [shim board]\n\n\n[[wedge]]\n\n\n\n\n         [robot]"
+  },
+  "task": {
+   "task_type": "StationAssembly",
+   "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Stationassembly the 1.5707963267948966.",
+   "task_id": "N025",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {
+   "frame_0552": {
+    "frame_idx": 552,
+    "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0603": {
+    "frame_idx": 603,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_1236": {
+    "frame_idx": 1236,
+    "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "verify",
+    "skill_state": "computing",
+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_1321": {
+    "frame_idx": 1321,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_1451": {
+    "frame_idx": 1451,
+    "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "verify",
+    "skill_state": "computing",
+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_1528": {
+    "frame_idx": 1528,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_1568": {
+    "frame_idx": 1568,
+    "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_1573": {
+    "frame_idx": 1573,
+    "caption": "Working on the small wedge; the right gripper is below the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_2497": {
+    "frame_idx": 2497,
+    "caption": "The skill for the small wedge could not be planned; the right gripper is below the wedge.",
+    "skill": "Grasp",
+    "phase": "grasp",
+    "skill_state": "failed",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_2498": {
+    "frame_idx": 2498,
+    "caption": "Computing a grasp pose for the small wedge; the right gripper is below the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "computing",
+    "planner": "AssemblyServoL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_2505": {
+    "frame_idx": 2505,
+    "caption": "Working on the small wedge; the right gripper is below the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_2960": {
+    "frame_idx": 2960,
+    "caption": "Done — the small wedge is grasped; the right gripper is below the wedge.",
+    "skill": "Grasp",
+    "phase": "completed",
+    "skill_state": "finished",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_2961": {
+    "frame_idx": 2961,
+    "caption": "Working on the small wedge; the right gripper is below the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
+    ]
+   },
+   "frame_3003": {
+    "frame_idx": 3003,
+    "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_3016": {
+    "frame_idx": 3016,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "CarryPose",
+    "phase": null,
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_3756": {
+    "frame_idx": 3756,
+    "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_4105": {
+    "frame_idx": 4105,
+    "caption": "Working on the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_5831": {
+    "frame_idx": 5831,
+    "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "verify",
+    "skill_state": "computing",
+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "shim_board_1",
+    "hand_id": 0,
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+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_5899": {
+    "frame_idx": 5899,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and behind the wedge.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:pre_insert",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "behind"
+    ]
+   }
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+ },
+ "depth_range": [
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+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/meta/info.json

@@ -0,0 +1,296 @@
+{
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+                "eef0.pos_z",
+                "eef0.quat_w",
+                "eef0.quat_x",
+                "eef0.quat_y",
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+                "joint_4",
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+                "joint_7",
+                "joint_8",
+                "joint_9",
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+                "joint_11",
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+                "piper_joint5",
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+                "articulation_pose.shim_board.3",
+                "articulation_pose.shim_board.4",
+                "articulation_pose.shim_board.5",
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+                "object_pose.table_A.2",
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+}

N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,290 @@
+{
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+}

N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/meta/tasks.jsonl

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N025/go2_arm/dr_on/seed_2015/stationassembly/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

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N025/go2_arm/dr_on/seed_2015/stationassembly/000/run_meta.json

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N025/go2_arm/dr_on/seed_2015/stationassembly/000/sim_info/0/actions.npz

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+      "rigid_body"
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+      "rigid_body"
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+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/collision_0",
+      "rigid_body"
+     ],
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+      "/World/envs/env_0/Robot_0/Bodies/go2_RR_calf/go2_RR_calf_geometry/visual_0",
+      "rigid_body"
+     ]
+    ]
+   },
+   "material_library": {
+    "root": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/Assets/Material",
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+     "wall": 28,
+     "furniture": 38,
+     "object": 54
+    }
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+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "reason": "glass",
+     "bound_prims": 1
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
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+    }
+   ]
+  }
+ ]
+}

N025/go2_arm/dr_on/seed_2016/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
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+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
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+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1738 rows vs ceil(3476/2) = 1738"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 31..3505, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "24.62 MB, 1738 frames at 25 fps, mean luma 52..85, std 62, new picture 1737x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1738 vs 1738"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "38.87 MB, 1738 frames at 25 fps, mean luma 87..155, std 27, new picture 1737x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1738 vs 1738"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stationassembly/000/sim_info"
+  }
+ }
+}

N025/go2_arm/dr_on/seed_2016/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n025_go2_on_2016_r1/out  task=N025  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n025_go2_on_2016_r1/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1738  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: 1738 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']
+[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'
+rows 1738 at dataset fps 25 = 69.52 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1738 rows vs ceil(3476/2) = 1738
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..3505, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 24.62 MB, 1738 frames at 25 fps, mean luma 52..85, std 62, new picture 1737x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1738 vs 1738
+[PASS] video observation.images.wrist decodes, 640x480, not black: 38.87 MB, 1738 frames at 25 fps, mean luma 87..155, std 27, new picture 1737x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1738 vs 1738
+parquet size 18.18 MB
+[PASS] sim_info present: stationassembly/000/sim_info
+dataset size 81.92 MB; whole cell dir 83.4 MB
+RESULT: ALL PASS

N025/go2_arm/dr_on/seed_2016/report.json

@@ -0,0 +1,2154 @@
+{
+  "task": "N025",
+  "agent_id": null,
+  "embodiment": "go2_arm",
+  "level": "easy",
+  "scene_seed": 2016,
+  "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)",
+  "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml",
+  "full_success": true,
+  "failure_reason": null,
+  "dr": {
+    "seed": 2016,
+    "wedge": {
+      "dx": 0.01703,
+      "dy": -0.02274,
+      "yaw_deg": -6.47631
+    },
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+      "dy": 0.00439,
+      "yaw_deg": 1.57529
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+    "spawn": {
+      "dx": 0.102,
+      "dy": 0.0038,
+      "yaw_deg": 12.54863
+    },
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+      "env.scene.objects.wedge.wedge_1.physics.mass": 0.02102,
+      "env.scene.background.intensity": [
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+      "env.robot.RidgebackSawyerUmi.common.ori": [
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+        [
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+  "planner_seeds": {
+    "label": "lean",
+    "num_trajopt_seeds": 1,
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+    "max_attempts": 6
+  },
+  "collect": {
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+      "MMB_COLLECT": "1",
+      "MMB_TASK_ID": "N025",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "1"
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+    "resolution": [
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+    "camera_hz": 25,
+    "record": {
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+        "lerobot_v21",
+        "sim_info"
+      ],
+      "clear_buffer_on_failure": true,
+      "lerobot": {
+        "subsample_every": 2
+      }
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+  },
+  "steps": 3506,
+  "task_id": "N025",
+  "task_version": "EXT60-MobileAvatar-v3",
+  "family_id": "wedge_support",
+  "primary_category": "C4",
+  "env_terminated": true,
+  "env_truncated": false,
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N025/go2_arm/dr_on/seed_2016/stationassembly/000/completed/0.json

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