add N004/stretch3/dr_off/seed_1042

N004/stretch3/dr_off/seed_1042/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the 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": "1357 rows vs ceil(2714/2) = 1357"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 81..2793, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "12.11 MB, 1357 frames at 25 fps, mean luma 115..158, std 12, new picture 1356x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1357 vs 1357"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "29.96 MB, 1357 frames at 25 fps, mean luma 127..193, std 32, new picture 1356x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1357 vs 1357"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "coinchain/000/sim_info"
+  }
+ }
+}

N004/stretch3/dr_off/seed_1042/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n004_str_off_1042/out  task=N004  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n004_str_off_1042/out/coinchain/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1357  videos 2  robot_type HelloRobotCfg
+[PASS] codebase v2.1: v2.1
+[PASS] dataset fps = 25: info.fps 25
+(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only)
+[PASS] parquet episodes: 1 files, info.total_episodes=1
+--- episode file episode_000000.parquet: 1357 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']
+[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the 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 1357 at dataset fps 25 = 54.28 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1357 rows vs ceil(2714/2) = 1357
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 81..2793, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 12.11 MB, 1357 frames at 25 fps, mean luma 115..158, std 12, new picture 1356x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1357 vs 1357
+[PASS] video observation.images.wrist decodes, 640x480, not black: 29.96 MB, 1357 frames at 25 fps, mean luma 127..193, std 32, new picture 1356x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1357 vs 1357
+parquet size 2.72 MB
+[PASS] sim_info present: coinchain/000/sim_info
+dataset size 45.21 MB; whole cell dir 46.5 MB
+RESULT: ALL PASS

N004/stretch3/dr_off/seed_1042/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/stretch3/dr_off/seed_1042/coinchain/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c53252cf99a45996a2b235a8066885ad8fdec32cc8ea47c72801b3b3d6f55e09
+size 2717301

N004/stretch3/dr_off/seed_1042/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": 1357, "magicsim/control_steps": 2714, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the 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 l. 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, slightly above table height."}

N004/stretch3/dr_off/seed_1042/coinchain/000/lerobot_v21/meta/extra/episode_000000.json

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+{
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+ "task_type": "MmbChain",
+ "subsample_every": 2,
+ "control_steps": 2714,
+ "language": {
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+     "noun": "table B",
+     "color": "gray",
+     "size": "large",
+     "material": null,
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+    {
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+    {
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+     "object": "bank_left_wall_w_1"
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+    {
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+     "relation": "right_of",
+     "object": "bank_right_wall_n_1"
+    },
+    {
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+     "relation": "on_top_of",
+     "object": "bank_right_wall_n_1"
+    },
+    {
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+    },
+    {
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+     "object": "bank_right_wall_e_1"
+    },
+    {
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+     "relation": "on_top_of",
+     "object": "bank_right_wall_w_1"
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+     "model": "hellorobot",
+     "type": "mobilemanip",
+     "noun": "Hello Robot Stretch 3 mobile manipulator",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
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+     "gripper": "parallel gripper"
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+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1000.0,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "A Hello Robot Stretch 3 mobile manipulator 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 l. 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, slightly above table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n[ban[bank right plate w]r[coin]\n\n\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": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Coinchain the 1.5707963267948966.",
+   "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/stretch3/dr_off/seed_1042/coinchain/000/lerobot_v21/meta/info.json

@@ -0,0 +1,1131 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "HelloRobotCfg",
+    "total_episodes": 1,
+    "total_frames": 1357,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:1"
+    },
+    "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",
+    "features": {
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "arm_action_0",
+                "arm_action_1",
+                "arm_action_2",
+                "arm_action_3",
+                "arm_action_4",
+                "arm_action_5",
+                "arm_action_6",
+                "gripper"
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+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "joint_lift",
+                "joint_head_pan",
+                "joint_head_tilt",
+                "joint_arm_l3",
+                "joint_arm_l2",
+                "joint_arm_l1",
+                "joint_arm_l0",
+                "joint_wrist_yaw",
+                "joint_wrist_pitch",
+                "joint_wrist_roll",
+                "joint_gripper_finger_left",
+                "joint_gripper_finger_right"
+            ]
+        },
+        "observation.joint_vel": {
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+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "joint_lift",
+                "joint_head_pan",
+                "joint_head_tilt",
+                "joint_arm_l3",
+                "joint_arm_l2",
+                "joint_arm_l1",
+                "joint_arm_l0",
+                "joint_wrist_yaw",
+                "joint_wrist_pitch",
+                "joint_wrist_roll",
+                "joint_gripper_finger_left",
+                "joint_gripper_finger_right"
+            ]
+        },
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+                "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": [
+                976
+            ],
+            "names": null
+        },
+        "action.applied": {
+            "dtype": "float32",
+            "shape": [
+                13
+            ],
+            "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/stretch3/dr_off/seed_1042/coinchain/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,259 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 03:52:39"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "HelloRobot",
+                "cfg": "HelloRobotCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "HelloRobot.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HelloRobotBaseAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "HelloRobot.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "arm_action_0",
+                    "arm_action_1",
+                    "arm_action_2",
+                    "arm_action_3",
+                    "arm_action_4",
+                    "arm_action_5",
+                    "arm_action_6"
+                ],
+                "source": "HelloRobotIKAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "HelloRobot.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_pos",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_vel",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
+                "K": [
+                    [
+                        811.3606627541883,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        811.3606388722814,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 43.048473468183616,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.04977099969983101,
+                -0.002942000050097704,
+                1.2957229614257812
+            ],
+            "quat": [
+                -0.6254264116287231,
+                -0.3299117982387543,
+                0.32990962266921997,
+                0.6254276037216187
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        426.91786449658065,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        426.9178503597538,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 73.70742419505024,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.008999999612569809,
+                0.06293900310993195,
+                0.056398000568151474
+            ],
+            "quat": [
+                -1.5083966786733072e-07,
+                1.7244702803509426e-06,
+                0.9961962699890137,
+                0.08713743835687637
+            ]
+        }
+    },
+    "lerobot": {
+        "codebase_version": "v2.1",
+        "video_keys": [
+            "observation.images.head",
+            "observation.images.wrist"
+        ],
+        "columns": [
+            "action",
+            "action.applied",
+            "action.command",
+            "action_is_hold",
+            "collect_info",
+            "episode_index",
+            "extra.action_info",
+            "extra.reward",
+            "frame_index",
+            "index",
+            "narration",
+            "next.done",
+            "next.truncated",
+            "observation.eef_pose",
+            "observation.environment_state",
+            "observation.images.head",
+            "observation.images.wrist",
+            "observation.joint_vel",
+            "observation.state",
+            "sim_step_idx",
+            "task_index",
+            "timestamp"
+        ]
+    },
+    "generated_run": {
+        "run_id": "coinchain/000",
+        "task_type": "MmbChain"
+    }
+}

N004/stretch3/dr_off/seed_1042/coinchain/000/lerobot_v21/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "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."}

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+                "Person"
+            ]
+        }
+    },
+    "git_sha": null,
+    "collect_runtime": {
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+    }
+}

N004/stretch3/dr_off/seed_1042/coinchain/000/sim_info/0/actions.npz

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+size 486232

N004/stretch3/dr_off/seed_1042/coinchain/000/sim_info/0/sim_states.npz

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+size 568014

N004/stretch3/dr_off/seed_1042/coinchain/000/sim_info/magicsim_manifest.json

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+{
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+        "time": "2026-11-10 03:53:03"
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+                "name": "HelloRobot",
+                "cfg": "HelloRobotCfg",
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+                    "joint_gripper_finger_right"
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+        "sim_dt": 0.005,
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+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
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+        "nan_policy": "from_raw",
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+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
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+                "names_source": "_joint_names"
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+                    "arm_action_2",
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+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
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+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
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+        "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": {
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+}

N004/stretch3/dr_off/seed_1042/report.json

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N004/stretch3/dr_off/seed_1042/reports/N004_easy_s1042_e1_1110-035233.json

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+}