add N058/sawyer_umi/dr_off/seed_1032

N058/sawyer_umi/dr_off/seed_1032/data/config_resolved.yaml

@@ -0,0 +1,903 @@
+env:
+  sim:
+    seed: 1032
+    device: cpu
+    use_fabric: false
+    decimation: 4
+    dt: 0.005
+    soft_resets: 2
+    scene:
+      num_envs: 1
+      env_spacing: 14
+    render:
+      rendering_mode: performance
+      enable_reflections: false
+      enable_global_illumination: false
+      enable_translucency: false
+      enable_dl_denoiser: false
+  scene:
+    terrain:
+      type: nav_room
+      collision: true
+      hide_top_walls: true
+      usd:
+      - $MAGICSIM_ASSETS/Room/Collected_SimpleRoom
+      annotation: Annotation
+      random: false
+      pos:
+      - 0.0
+      - 0.0
+      - 0.0
+      ori:
+      - 0.0
+      - 0.0
+      - 0.0
+      scale:
+      - 1.0
+      - 1.0
+      - 1.0
+      physics_material:
+        static_friction: 1.0
+        dynamic_friction: 1.0
+        restitution: 0.0
+        friction_combine_mode: multiply
+        restitution_combine_mode: multiply
+    background:
+      intensity:
+      - 1500
+      - 1500
+    objects:
+      table_a:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - -1.5
+          - 2.4
+          - 0.18
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 1.0
+          - 0.6
+          - 0.3
+        table_a_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          visual:
+            color:
+            - 0.55
+            - 0.42
+            - 0.3
+          physics:
+            type: geometry
+            collision: true
+      table_b:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 1.9
+          - 2.4
+          - 0.18
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 1.0
+          - 0.6
+          - 0.3
+        table_b_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          visual:
+            color:
+            - 0.55
+            - 0.42
+            - 0.3
+          physics:
+            type: geometry
+            collision: true
+      partition:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 0.2
+          - 2.55
+          - 0.78
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.08
+          - 2.3
+          - 1.5
+        partition_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          visual:
+            color:
+            - 0.8
+            - 0.8
+            - 0.84
+          physics:
+            type: geometry
+            collision: true
+      pad_L:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - -1.66
+          - 2.24
+          - 0.33999999999999997
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.1
+          - 0.1
+          - 0.02
+        pad_L_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          visual:
+            color:
+            - 0.42
+            - 0.44
+            - 0.5
+          physics:
+            type: geometry
+            collision: true
+      lit_L:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - -1.66
+          - 2.24
+          - 0.352
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.10400000000000001
+          - 0.10400000000000001
+          - 0.004
+        lit_L_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          visual:
+            color:
+            - 1.0
+            - 0.85
+            - 0.15
+          physics:
+            type: geometry
+            collision: false
+      pad_R:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - -1.34
+          - 2.24
+          - 0.33999999999999997
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.1
+          - 0.1
+          - 0.02
+        pad_R_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          visual:
+            color:
+            - 0.42
+            - 0.44
+            - 0.5
+          physics:
+            type: geometry
+            collision: true
+      lit_R:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - -1.34
+          - 2.24
+          - 0.352
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.10400000000000001
+          - 0.10400000000000001
+          - 0.004
+        lit_R_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          visual:
+            color:
+            - 1.0
+            - 0.85
+            - 0.15
+          physics:
+            type: geometry
+            collision: false
+      rack_b_post0:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 1.815
+          - 2.22
+          - 0.355
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.03
+          - 0.05
+          - 0.05
+        rack_b_post0_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          visual:
+            color:
+            - 0.35
+            - 0.35
+            - 0.38
+          physics:
+            type: geometry
+            collision: true
+      rack_b_post1:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 1.95
+          - 2.22
+          - 0.355
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.03
+          - 0.05
+          - 0.05
+        rack_b_post1_1:
+          primitive_params:
+            size:
+            - 1.0
+            - 1.0
+            - 1.0
+          visual:
+            color:
+            - 0.35
+            - 0.35
+            - 0.38
+          physics:
+            type: geometry
+            collision: true
+      tapper:
+        usd:
+        - $MAGICSIM_ASSETS/StationMemory/sm_tapper
+        random: false
+        num_per_env: 1
+        common:
+          scale:
+          - 1.0
+          - 1.0
+          - 1.0
+          pos:
+          - - 1.9
+            - 2.22
+            - 0.39649999999999996
+          - - 1.9
+            - 2.22
+            - 0.39649999999999996
+          ori:
+          - - 0.0
+            - 0.0
+            - 0.0
+          - - 0.0
+            - 0.0
+            - 0.0
+        tapper_1:
+          physics:
+            type: rigid
+            collision: true
+            mass: 0.12
+            physics_material:
+              static_friction: 1.5
+              dynamic_friction: 1.5
+              restitution: 0.0
+  nav:
+    navmesh:
+      min_agent_radius_cm: 70.0
+      max_agent_radius_cm: 70.0
+      validate_path_clearance: true
+      validate_path_window: true
+      validate_path_reroute: true
+      enabled: true
+      visualize: false
+      bake_timeout_s: 180
+      agent_height_cm: 110
+      max_step_height_cm: 20
+      max_floor_slope_deg: 30
+      agent_island_radius_cm: 5
+      auto_exclude_rigid_bodies: true
+      navmesh_offset_z_m: 0
+      verbose: false
+    occupancymap:
+      cell_size: 0.05
+  robot:
+    RidgebackSawyerUmi:
+      name: ridgebacksawyer_umi
+      type: mobilemanip
+      common:
+        pos:
+        - - -3.1
+          - -2.1
+          - 0.06
+        - - -2.9
+          - -1.9
+          - 0.06
+        ori:
+        - - 0.0
+          - 0.0
+          - 19.999999999999996
+        - - 0.0
+          - 0.0
+          - 40.0
+        initial_joint_pos:
+          dummy_base_prismatic_x_joint: 0.0
+          dummy_base_prismatic_y_joint: 0.0
+          dummy_base_revolute_z_joint: 0.0
+          head_pan: -3.0
+          right_j0: 3.0
+          right_j1: -1.0
+          right_j2: 0.0
+          right_j3: 2.0
+          right_j4: 0.0
+          right_j5: 1.4
+          right_j6: 0.0
+          right_gripper_l_finger_joint: 0.0
+          right_gripper_r_finger_joint: 0.0
+      action:
+        base_action: holonomic_action
+        arm_action: ik_pink
+        eef_action: binary
+      planner:
+        dual_mode: true
+        base_joint_names:
+        - dummy_base_prismatic_x_joint
+        - dummy_base_prismatic_y_joint
+        - dummy_base_revolute_z_joint
+        ik:
+          type: ridgebacksawyer_umi
+          enable: true
+          ik_num_instances: 1
+          ik_batch_size: 1
+          ik_num_seeds: 20
+          ik_position_threshold: 0.005
+          ik_rotation_threshold: 0.05
+          microbatch_wait_ms: 400.0
+          relative_to_world_frame: false
+        motiongen:
+          type: ridgebacksawyer_umi
+          enable: true
+          batch_size: 1
+          debug: false
+          motiongen_num_instances: 1
+          microbatch_wait_ms: 400.0
+          mode: position
+          relative_to_world_frame: false
+        body:
+          type: nav
+          dwb_type: dwb_holonomic
+          dwb_holonomic:
+            device: cpu
+            dt: 0.02
+            debug: false
+            num_rollout_steps: 60
+            num_speed_samples: 11
+            num_steer_samples: 11
+            num_vx_samples: 7
+            num_vy_samples: 7
+            num_yaw_samples: 7
+            max_accel: 1.5
+            max_steer_rate: 1.5
+            max_accel_vx: 1.5
+            max_accel_vy: 1.5
+            max_yaw_accel: 1.5
+            w_goal: 6.0
+            w_path: 24.0
+            w_vel: 0.2
+            w_vy: 0.0
+            dilate_radius: 0.62
+            room_size: 12.0
+            occupancy_update_interval: 25
+            scan_height: 0.45
+            scan_min_z: 0.22
+            scan_max_z: 1.75
+            goal_pos_threshold: 0.1
+            goal_yaw_threshold: 0.08
+            kp_goal_yaw: 1.5
+            min_vx: -0.3
+            max_vx: 0.3
+            min_vy: -0.3
+            max_vy: 0.3
+            min_yaw_rate: -0.8
+            max_yaw_rate: 0.8
+            safety_enabled: true
+            safety_deceleration: 0.5
+            safety_reaction_time: 0.5
+            scan_type: 3d
+            own_body_clear: true
+            own_body_radius: 0.25
+            goal_cost_mode: path
+          p_controller:
+            kp_angular_turning_only: 2
+            kd_angular_turning_only: 1
+            kp_linear_x: 4
+            kp_linear_y: 4
+            kp_angular: 2
+            kd_linear_x: 1.5
+            kd_linear_y: 1.5
+            min_vel: -0.4
+            max_vel: 0.8
+            linear_dead_zone: 0.05
+            angular_dead_zone: 0.2
+            nav_heading_target: 0
+        arm:
+          type: default
+        eef:
+          type: default
+      physics:
+        wheel_base: 0.01
+        robot_radius: 0.62
+      reset: default
+  camera:
+    enable_tiled: false
+    colorize_depth: false
+    head:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 2.0
+        horizontal_aperture: 3.6
+        vertical_aperture: 2.7
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/head
+        pos:
+        - 0.2166
+        - 0.0
+        - -0.045
+        ori:
+        - -0.0
+        - 35.0
+        - -90.0
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+    wrist:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.8
+        horizontal_aperture: 3.6
+        vertical_aperture: 2.7
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/right_electric_gripper_base
+        pos:
+        - 0.0598
+        - 0.0
+        - 0.03
+        ori:
+        - 180.0
+        - 0.0
+        - -90.0
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+  anim:
+    avatar:
+      graph: magic
+      Person:
+        usd:
+        - $MAGICSIM_ASSETS/Avatar/Medical/F_Medical_01/F_Medical_01.usd
+        num_per_env: 1
+        random: false
+        common:
+          pos:
+          - -1.5
+          - 3.35
+          - 0.03
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          body_collision:
+            representation: bone_rigid
+            friction: 1.0
+            restitution: 0.15
+task:
+  observation: {}
+  reward: {}
+  termination:
+    timeout_steps: 30000
+    success_hold_frames: 1
+  task_version: EXT60-MobileAvatar-v3
+  agent_id: a12
+  primary_category: C6
+  embodiment: sawyer_umi
+  execution_mode: collect_chain
+  level: easy
+  scene_seed: 1032
+  layout:
+    floor_z: 0.03
+    room:
+      x:
+      - -3.7
+      - 3.7
+      'y':
+      - -2.55
+      - 4.05
+    S:
+      x: -3.0
+      'y': -2.0
+      yaw_deg: 30.0
+    boxes:
+      table_a:
+        cx: -1.5
+        cy: 2.4
+        sx: 1.0
+        sy: 0.6
+        height: 0.3
+      table_b:
+        cx: 1.9
+        cy: 2.4
+        sx: 1.0
+        sy: 0.6
+        height: 0.3
+      partition:
+        cx: 0.2
+        cy: 2.55
+        sx: 0.08
+        sy: 2.3
+        height: 1.5
+    stations:
+      A:
+        table: table_a
+        outward:
+        - 0.0
+        - -1.0
+      B:
+        table: table_b
+        outward:
+        - 0.0
+        - -1.0
+  stand:
+    standoff: 0.75
+  stretch: {}
+  stage_retries: 2
+  task_id: N058
+  draw_kind: order
+  cue_min_fraction: 1.0
+  order:
+    station: A
+    pads:
+      L:
+        t: -0.16
+        depth: 0.14
+      R:
+        t: 0.16
+        depth: 0.14
+    pad_size: 0.1
+    pad_height: 0.02
+    flash_s: 1.2
+    lead_s: 0.8
+    gap_range:
+    - 0.5
+    - 1.2
+  pad_legible_size: 0.05
+  cue_hold_s: 3.0
+  arrive_radius: 0.3
+  arrive_yaw: 0.35
+  arrive_ticks: 120
+  touch_below: 0.01
+  touch_above: 0.008
+  touch_release_ticks: 3
+  avatar:
+    lower_s: 1.0
+    body_radius: 0.25
+    robot_radius: 0.3
+    contact_clearance: 0.05
+    rest_travel_tol: 0.05
+  observe:
+    standoff: 1.15
+    dx_jitter: 0.0
+    yaw_jitter_deg: 0.0
+  spawn_jitter:
+    x: 0.1
+    'y': 0.1
+    yaw_deg: 10.0
+  racks:
+    rack_b:
+      station: B
+      t: 0.0
+      depth: 0.12
+      axis: t
+      offsets:
+      - -0.085
+      - 0.05
+      height: 0.05
+      size:
+      - 0.03
+      - 0.05
+  items:
+    tapper:
+      usd: $MAGICSIM_ASSETS/StationMemory/sm_tapper
+      station: B
+      t: 0.0
+      depth: 0.12
+      z: 0.0665
+      yaw_deg: 0
+      physics:
+        type: rigid
+        collision: true
+        mass: 0.12
+        physics_material:
+          static_friction: 1.5
+          dynamic_friction: 1.5
+          restitution: 0.0
+  draw:
+    sequence:
+    - R
+    - L
+    starts:
+    - 0.8
+    - 2.5
+    flash_s: 1.2
+  extra_boxes:
+    pad_L:
+      centre:
+      - -1.66
+      - 2.24
+      - 0.33999999999999997
+      size:
+      - 0.1
+      - 0.1
+      - 0.02
+      color:
+      - 0.42
+      - 0.44
+      - 0.5
+      collision: true
+    lit_L:
+      centre:
+      - -1.66
+      - 2.24
+      - 0.352
+      size:
+      - 0.10400000000000001
+      - 0.10400000000000001
+      - 0.004
+      color:
+      - 1.0
+      - 0.85
+      - 0.15
+      collision: false
+    pad_R:
+      centre:
+      - -1.34
+      - 2.24
+      - 0.33999999999999997
+      size:
+      - 0.1
+      - 0.1
+      - 0.02
+      color:
+      - 0.42
+      - 0.44
+      - 0.5
+      collision: true
+    lit_R:
+      centre:
+      - -1.34
+      - 2.24
+      - 0.352
+      size:
+      - 0.10400000000000001
+      - 0.10400000000000001
+      - 0.004
+      color:
+      - 1.0
+      - 0.85
+      - 0.15
+      collision: false
+collect:
+  auto_collect:
+    task_type: station
+    max_trajectories: 1
+  record:
+    output_dir: /mnt/scratch/sz850_atomic/n058_saw_off_1032/out/data/record
+    formats:
+    - lerobot_v21
+    - sim_info
+    clear_buffer_on_failure: true
+    lerobot:
+      subsample_every: 2
+  global_planner:
+    NavTo:
+      carry_arm: true
+      settle_speed: 0.03
+      settle_yaw_rate: 0.05
+      use_navmesh: true
+      use_absolute: true
+      translation_threshold: 0.12
+      rotation_threshold: 0.12
+      num_path_segments: 30
+      start_forward_offset: 0.0
+      visualize_path: false
+    MoveL:
+      translation_threshold: 0.003
+      rotation_threshold: 0.2
+      motiongen_distance_threshold: 0.2
+      timeout_steps: 50
+      debug: false
+    MobileMoveL:
+      translation_threshold: 0.006
+      rotation_threshold: 0.2
+      motiongen_distance_threshold: 0
+      timeout_steps: 3000
+      reactive: false
+      base_pos_threshold: 0.15
+      base_rot_threshold: 0.1
+      eef_pos_threshold: 0.05
+      eef_rot_threshold: 0.3
+      waypoint_max_steps: 8
+      stall_release_ticks: 50
+      stall_release_factor: 10.0
+      debug: false
+      interp_steps: 80
+      min_steps_before_done: 10
+    ParallelGripper:
+      gripper_threshold: 0.001
+  atomic_skill:
+    NavToPose:
+      robot_id: 0
+      position_threshold: 0.08
+      angle_threshold: 0.06
+      show_marker: false
+    Move:
+      arm_planner: MobileMoveL
+      hand_planner: ParallelGripper
+      hold_steps: 20
+      obstacle_avoid_paths:
+      - dynamic
+      obstacle_ignore_paths: []
+  command:
+    OrderTapSawyer:
+      robot_id: 0
+      hand_id: 0
+      init_limit: 90
+      max_attempt: 2
+      observe_timeout: 1500
+      dark_ticks: 110
+      above: 0.06
+      near: 0.025
+      touch_clear: 0.002
+      grasp_dx: -0.02
+      stage_retries: 2
+      tilt_deg: 10.0
+env_string: TemporalOrderEnvSawyer-V0
+check:
+  command: OrderTapSawyer
+levels:
+  easy:
+    task:
+      spawn_jitter:
+        x: 0.1
+        'y': 0.1
+        yaw_deg: 10.0
+  medium:
+    task:
+      spawn_jitter:
+        x: 0.2
+        'y': 0.2
+        yaw_deg: 15.0
+  hard:
+    task:
+      spawn_jitter:
+        x: 0.3
+        'y': 0.3
+        yaw_deg: 20.0
+      observe:
+        standoff: 1.15
+        dx_jitter: 0.2
+        yaw_jitter_deg: 8.0
+visual_dr:
+  keep:
+  - lit_L
+  - lit_R
+  - pad_L
+  - pad_R
+  - Person

N058/sawyer_umi/dr_off/seed_1032/data/record/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order.'; expected 'Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "2638 rows vs ceil(5275/2) = 2638"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 91..5365, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "26.24 MB, 2638 frames at 25 fps, mean luma 115..151, std 18, new picture 2637x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "2638 vs 2638"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "48.92 MB, 2638 frames at 25 fps, mean luma 88..125, std 27, new picture 2637x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "2638 vs 2638"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "ordertapsawyer/000/sim_info"
+  }
+ }
+}

N058/sawyer_umi/dr_off/seed_1032/data/record/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/sz850_atomic/n058_saw_off_1032/out/data/record  task=N058  at verify_collect_dataset.py
+dataset root /mnt/scratch/sz850_atomic/n058_saw_off_1032/out/data/record/ordertapsawyer/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 2638  videos 2  robot_type RidgebackSawyerUmiCfg
+[PASS] codebase v2.1: v2.1
+[PASS] dataset fps = 25: info.fps 25
+(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only)
+[PASS] parquet episodes: 1 files, info.total_episodes=1
+--- episode file episode_000000.parquet: 2638 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']
+[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']
+[PASS] task text = MobileBench instruction: task_index 0: 'Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order.'; expected 'Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order.'
+rows 2638 at dataset fps 25 = 105.52 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2638 rows vs ceil(5275/2) = 2638
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 91..5365, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 26.24 MB, 2638 frames at 25 fps, mean luma 115..151, std 18, new picture 2637x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 2638 vs 2638
+[PASS] video observation.images.wrist decodes, 640x480, not black: 48.92 MB, 2638 frames at 25 fps, mean luma 88..125, std 27, new picture 2637x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 2638 vs 2638
+parquet size 3.24 MB
+[PASS] sim_info present: ordertapsawyer/000/sim_info
+dataset size 78.72 MB; whole cell dir 80.5 MB
+RESULT: ALL PASS

N058/sawyer_umi/dr_off/seed_1032/data/record/ordertapsawyer/000/completed/0.json

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

N058/sawyer_umi/dr_off/seed_1032/data/record/ordertapsawyer/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:538c1c6fa3bcb6b87d79483a9770efa61a58a8b64149866ba840588e9bc2d0d2
+size 3242735

N058/sawyer_umi/dr_off/seed_1032/data/record/ordertapsawyer/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order."], "length": 2638, "magicsim/control_steps": 5275, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the tapper. There are a large gray table a, a large gray table b, a large white partition, a large gray pad L, a large yellow lit L, a large gray pad R, a large yellow lit R, a large gray rack b post0, a large gray rack b post1 and a small tapper. The gray table a is to the left of the gray pad L. The gray table b is to the left of the gray rack b post1. The white partition is to the right of the yellow lit R. The gray rack b post0 is on top of the tapper. The tapper is on top of the gray rack b post1. The scene is viewed from left, at table height."}

N058/sawyer_umi/dr_off/seed_1032/data/record/ordertapsawyer/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
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N058/sawyer_umi/dr_off/seed_1032/data/record/ordertapsawyer/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,490 @@
+{
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+ "env_id": 0,
+ "task_type": "OrderTapSawyer",
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+     "relation": "left_of",
+     "object": "pad_L_1"
+    },
+    {
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+     "relation": "left_of",
+     "object": "rack_b_post1_1"
+    },
+    {
+     "subject": "partition_1",
+     "relation": "right_of",
+     "object": "lit_R_1"
+    },
+    {
+     "subject": "rack_b_post0_1",
+     "relation": "on_top_of",
+     "object": "tapper_1"
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+    {
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+     "relation": "on_top_of",
+     "object": "rack_b_post1_1"
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+   ],
+   "robots": [
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+     "name": "RidgebackSawyerUmi",
+     "model": "ridgebacksawyer_umi",
+     "type": "mobilemanip",
+     "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
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+      "ori": [
+       0.9829831123352051,
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+     },
+     "facing_yaw_deg": 21.170242858921693,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1500.0,
+    "ambient": "bright"
+   },
+   "effects": [],
+   "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the tapper. There are a large gray table a, a large gray table b, a large white partition, a large gray pad L, a large yellow lit L, a large gray pad R, a large yellow lit R, a large gray rack b post0, a large gray rack b post1 and a small tapper. The gray table a is to the left of the gray pad L. The gray table b is to the left of the gray rack b post1. The white partition is to the right of the yellow lit R. The gray rack b post0 is on top of the tapper. The tapper is on top of the gray rack b post1. The scene is viewed from left, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n    [partition]\n\n\n\n            [tapper]\n [[lit R]   [rack b post1]\n\n[table a] [table b]\n                        [robot]"
+  },
+  "task": {
+   "task_type": "OrderTapSawyer",
+   "instruction": "Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Ordertapsawyer the 1.5707963267948966.",
+   "task_id": "N058",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {}
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": false,
+ "truncated": false
+}

N058/sawyer_umi/dr_off/seed_1032/data/record/ordertapsawyer/000/lerobot_v21/meta/info.json

@@ -0,0 +1,1042 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "RidgebackSawyerUmiCfg",
+    "total_episodes": 1,
+    "total_frames": 2638,
+    "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": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                11
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "frame0.pos_x",
+                "frame0.pos_y",
+                "frame0.pos_z",
+                "frame0.quat_w",
+                "frame0.quat_x",
+                "frame0.quat_y",
+                "frame0.quat_z",
+                "gripper"
+            ]
+        },
+        "action_is_hold": {
+            "dtype": "bool",
+            "shape": [
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+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
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+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "right_j0",
+                "head_pan",
+                "right_j1",
+                "right_j2",
+                "right_j3",
+                "right_j4",
+                "right_j5",
+                "right_j6",
+                "right_gripper_l_finger_joint",
+                "right_gripper_r_finger_joint",
+                "gripper_0",
+                "gripper_1"
+            ]
+        },
+        "observation.joint_vel": {
+            "dtype": "float32",
+            "shape": [
+                13
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "right_j0",
+                "head_pan",
+                "right_j1",
+                "right_j2",
+                "right_j3",
+                "right_j4",
+                "right_j5",
+                "right_j6",
+                "right_gripper_l_finger_joint",
+                "right_gripper_r_finger_joint"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
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+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
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+            "names": [
+                "avatar_motion.Person_1.joint_pos.0",
+                "avatar_motion.Person_1.joint_pos.1",
+                "avatar_motion.Person_1.joint_pos.2",
+                "avatar_motion.Person_1.joint_pos.3",
+                "avatar_motion.Person_1.joint_pos.4",
+                "avatar_motion.Person_1.joint_pos.5",
+                "avatar_motion.Person_1.joint_pos.6",
+                "avatar_motion.Person_1.joint_pos.7",
+                "avatar_motion.Person_1.joint_pos.8",
+                "avatar_motion.Person_1.joint_pos.9",
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+}

N058/sawyer_umi/dr_off/seed_1032/data/record/ordertapsawyer/000/lerobot_v21/meta/magicsim_manifest.json

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+{
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+    "generated": {
+        "time": "2026-11-07 23:22:05"
+    },
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+                "cfg": "RidgebackSawyerUmiCfg",
+                "type": "mobilemanip",
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+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
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+                    "right_j1",
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+                    "right_j3",
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+                    "right_j5",
+                    "right_j6",
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+                    "right_gripper_r_finger_joint"
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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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+                    "frame0.pos_y",
+                    "frame0.pos_z",
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+                    "frame0.quat_x",
+                    "frame0.quat_y",
+                    "frame0.quat_z"
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+                "source": "PinkInverseKinematicsAction",
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+                    "right_j1",
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+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
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+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
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+        "task_type": "OrderTapSawyer"
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+}

N058/sawyer_umi/dr_off/seed_1032/data/record/ordertapsawyer/000/lerobot_v21/meta/tasks.jsonl

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+                    "type": "mobilemanip",
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+                            "dummy_base_revolute_z_joint": 0.0,
+                            "head_pan": -3.0,
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+                        "eef_action": "binary"
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+                            "dummy_base_prismatic_y_joint",
+                            "dummy_base_revolute_z_joint"
+                        ],
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+                            "enable": true,
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+                            "ik_batch_size": 1,
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+                            "mode": "position",
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+                            "dwb_type": "dwb_holonomic",
+                            "dwb_holonomic": {
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+                                "dt": 0.02,
+                                "debug": false,
+                                "num_rollout_steps": 60,
+                                "num_speed_samples": 11,
+                                "num_steer_samples": 11,
+                                "num_vx_samples": 7,
+                                "num_vy_samples": 7,
+                                "num_yaw_samples": 7,
+                                "max_accel": 1.5,
+                                "max_steer_rate": 1.5,
+                                "max_accel_vx": 1.5,
+                                "max_accel_vy": 1.5,
+                                "max_yaw_accel": 1.5,
+                                "w_goal": 6.0,
+                                "w_path": 24.0,
+                                "w_vel": 0.2,
+                                "w_vy": 0.0,
+                                "dilate_radius": 0.62,
+                                "room_size": 12.0,
+                                "occupancy_update_interval": 25,
+                                "scan_height": 0.45,
+                                "scan_min_z": 0.22,
+                                "scan_max_z": 1.75,
+                                "goal_pos_threshold": 0.1,
+                                "goal_yaw_threshold": 0.08,
+                                "kp_goal_yaw": 1.5,
+                                "min_vx": -0.3,
+                                "max_vx": 0.3,
+                                "min_vy": -0.3,
+                                "max_vy": 0.3,
+                                "min_yaw_rate": -0.8,
+                                "max_yaw_rate": 0.8,
+                                "safety_enabled": true,
+                                "safety_deceleration": 0.5,
+                                "safety_reaction_time": 0.5,
+                                "scan_type": "3d",
+                                "own_body_clear": true,
+                                "own_body_radius": 0.25,
+                                "goal_cost_mode": "path"
+                            },
+                            "p_controller": {
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+                                "kd_angular_turning_only": 1,
+                                "kp_linear_x": 4,
+                                "kp_linear_y": 4,
+                                "kp_angular": 2,
+                                "kd_linear_x": 1.5,
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+                                "min_vel": -0.4,
+                                "max_vel": 0.8,
+                                "linear_dead_zone": 0.05,
+                                "angular_dead_zone": 0.2,
+                                "nav_heading_target": 0
+                            }
+                        },
+                        "arm": {
+                            "type": "default"
+                        },
+                        "eef": {
+                            "type": "default"
+                        }
+                    },
+                    "physics": {
+                        "wheel_base": 0.01,
+                        "robot_radius": 0.62
+                    },
+                    "reset": "default"
+                }
+            },
+            "camera": {
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+                "colorize_depth": false,
+                "head": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 2.0,
+                        "horizontal_aperture": 3.6,
+                        "vertical_aperture": 2.7,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/head",
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+                        ]
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+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                },
+                "wrist": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 1.8,
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+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
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+                        "mode": "RGB",
+                        "mount_link": "Robot_0/right_electric_gripper_base",
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+                        ],
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+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                }
+            },
+            "anim": {
+                "avatar": {
+                    "graph": "magic",
+                    "Person": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/Avatar/Medical/F_Medical_01/F_Medical_01.usd"
+                        ],
+                        "num_per_env": 1,
+                        "random": false,
+                        "common": {
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+                            ],
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+                            }
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+                    }
+                }
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+            "reward": {},
+            "termination": {
+                "timeout_steps": 30000,
+                "success_hold_frames": 1
+            },
+            "task_version": "EXT60-MobileAvatar-v3",
+            "agent_id": "a12",
+            "primary_category": "C6",
+            "embodiment": "sawyer_umi",
+            "execution_mode": "collect_chain",
+            "level": "easy",
+            "scene_seed": 1032,
+            "layout": {
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+                "room": {
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+                    ],
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+                        4.05
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+                        "height": 1.5
+                    }
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+                "stations": {
+                    "A": {
+                        "table": "table_a",
+                        "outward": [
+                            0.0,
+                            -1.0
+                        ]
+                    },
+                    "B": {
+                        "table": "table_b",
+                        "outward": [
+                            0.0,
+                            -1.0
+                        ]
+                    }
+                }
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+            "stage_retries": 2,
+            "task_id": "N058",
+            "draw_kind": "order",
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+                "pads": {
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+                "lead_s": 0.8,
+                "gap_range": [
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+                    1.2
+                ]
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+                        "mass": 0.12,
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+                            "dynamic_friction": 1.5,
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+                        0.5
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+                    "dark_ticks": 110,
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+                    "stage_retries": 2,
+                    "tilt_deg": 10.0
+                }
+            }
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+        "collect": {
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+                "max_trajectories": 1
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+                "output_dir": "/mnt/scratch/sz850_atomic/n058_saw_off_1032/out/data/record",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
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+                    "settle_speed": 0.03,
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+                    "timeout_steps": 50,
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+                    "waypoint_max_steps": 8,
+                    "stall_release_ticks": 50,
+                    "stall_release_factor": 10.0,
+                    "debug": false,
+                    "interp_steps": 80,
+                    "min_steps_before_done": 10
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+                "ParallelGripper": {
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+                }
+            },
+            "atomic_skill": {
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+                    "position_threshold": 0.08,
+                    "angle_threshold": 0.06,
+                    "show_marker": false
+                },
+                "Move": {
+                    "arm_planner": "MobileMoveL",
+                    "hand_planner": "ParallelGripper",
+                    "hold_steps": 20,
+                    "obstacle_avoid_paths": [
+                        "dynamic"
+                    ],
+                    "obstacle_ignore_paths": []
+                }
+            },
+            "command": {
+                "OrderTapSawyer": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "init_limit": 90,
+                    "max_attempt": 2,
+                    "observe_timeout": 1500,
+                    "dark_ticks": 110,
+                    "above": 0.06,
+                    "near": 0.025,
+                    "touch_clear": 0.002,
+                    "grasp_dx": -0.02,
+                    "stage_retries": 2,
+                    "tilt_deg": 10.0
+                }
+            }
+        },
+        "env_string": "TemporalOrderEnvSawyer-V0",
+        "check": {
+            "command": "OrderTapSawyer"
+        },
+        "levels": {
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+                        "y": 0.2,
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+                    }
+                }
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+                        "y": 0.3,
+                        "yaw_deg": 20.0
+                    },
+                    "observe": {
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+                        "dx_jitter": 0.2,
+                        "yaw_jitter_deg": 8.0
+                    }
+                }
+            }
+        },
+        "visual_dr": {
+            "keep": [
+                "lit_L",
+                "lit_R",
+                "pad_L",
+                "pad_R",
+                "Person"
+            ]
+        }
+    },
+    "git_sha": "ab32a6159bbbbaadb88109b7fd60e3ffcf42c934",
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}

N058/sawyer_umi/dr_off/seed_1032/data/record/ordertapsawyer/000/sim_info/0/actions.npz

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+size 515371

N058/sawyer_umi/dr_off/seed_1032/data/record/ordertapsawyer/000/sim_info/0/scene_snapshot.json

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+{
+    "trajectory_id": 0,
+    "env_id": 0,
+    "run_id": "ordertapsawyer/000",
+    "task_type": "OrderTapSawyer",
+    "success": true,
+    "timing": {
+        "fps": 50.0,
+        "sim_dt": 0.005,
+        "decimation": 4
+    },
+    "restore_interface": {
+        "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
+    },
+    "snapshot": {
+        "env_id": 0,
+        "scene": {
+            "objects": [
+                {
+                    "table_a": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
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+                                    2.4,
+                                    0.18
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+                                    0.3
+                                ]
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+                                    "kind": "color",
+                                    "value": [
+                                        0.55,
+                                        0.42,
+                                        0.3
+                                    ],
+                                    "visible": true
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+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
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+                                "primitive_params": {
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+                                        1.0,
+                                        1.0,
+                                        1.0
+                                    ]
+                                }
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+                            "asset": "Cube",
+                            "pose": {
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+                                    2.4,
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+                                    "value": [
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+                                "RL_BoneRoot/Hip",
+                                "RL_BoneRoot/Hip/Pelvis",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBaseShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_PinkyToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_RingToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_MidToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_IndexToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_Foot/L_ToeBase/L_BigToe1",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_CalfTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_CalfTwist01/L_CalfTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_Calf/L_KneeShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_ThighTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/L_Thigh/L_ThighTwist01/L_ThighTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_KneeShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_BigToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_PinkyToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_RingToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_IndexToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBase/R_MidToe1",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_Foot/R_ToeBaseShareBone",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_CalfTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_Calf/R_CalfTwist01/R_CalfTwist02",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_ThighTwist01",
+                                "RL_BoneRoot/Hip/Pelvis/R_Thigh/R_ThighTwist01/R_ThighTwist02",
+                                "RL_BoneRoot/Hip/Waist",
+                                "RL_BoneRoot/Hip/Waist/Spine01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01/Tongue02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Tongue01/Tongue02/Tongue03",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/JawRoot/Teeth02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/R_Eye",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/L_Eye",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/UpperJaw",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/NeckTwist01/NeckTwist02/Head/FacialBone/UpperJaw/Teeth01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ForearmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ForearmTwist01/L_ForearmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_ElbowShareBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1/L_Pinky2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Pinky1/L_Pinky2/L_Pinky3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1/L_Ring2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Ring1/L_Ring2/L_Ring3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1/L_Mid2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Mid1/L_Mid2/L_Mid3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1/L_Index2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Index1/L_Index2/L_Index3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1/L_Thumb2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_Forearm/L_Hand/L_Thumb1/L_Thumb2/L_Thumb3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_UpperarmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_Clavicle/L_Upperarm/L_UpperarmTwist01/L_UpperarmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_RibsTwist",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/L_RibsTwist/L_Breast",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_RibsTwist",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_RibsTwist/R_Breast",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ElbowShareBone",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ForearmTwist01",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_ForearmTwist01/R_ForearmTwist02",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand",
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+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Ring1/R_Ring2/R_Ring3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1/R_Mid2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Mid1/R_Mid2/R_Mid3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Thumb1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Thumb1/R_Thumb2",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Thumb1/R_Thumb2/R_Thumb3",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Index1",
+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Index1/R_Index2",
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+                                "RL_BoneRoot/Hip/Waist/Spine01/Spine02/R_Clavicle/R_Upperarm/R_Forearm/R_Hand/R_Pinky1/R_Pinky2",
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N058/sawyer_umi/dr_off/seed_1032/data/record/ordertapsawyer/000/sim_info/0/sim_states.npz

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N058/sawyer_umi/dr_off/seed_1032/data/record/ordertapsawyer/000/sim_info/magicsim_manifest.json

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+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ]
+            }
+        ]
+    },
+    "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": "RidgebackSawyerUmi.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HolonomicAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "frame0.pos_x",
+                    "frame0.pos_y",
+                    "frame0.pos_z",
+                    "frame0.quat_w",
+                    "frame0.quat_x",
+                    "frame0.quat_y",
+                    "frame0.quat_z"
+                ],
+                "source": "PinkInverseKinematicsAction",
+                "names_source": "pink_layout"
+            },
+            {
+                "name": "RidgebackSawyerUmi.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_pos",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.gripper_pos",
+                "start": 13,
+                "end": 15,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 13,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_vel",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
+                "K": [
+                    [
+                        355.55555555555554,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        355.55555555555554,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 83.97442499163331,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.21660000085830688,
+                0.0,
+                -0.04500000178813934
+            ],
+            "quat": [
+                -0.6743797063827515,
+                0.21263112127780914,
+                -0.21263112127780914,
+                0.6743797659873962
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        320.0,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        320.0,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 90.0,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.05979999899864197,
+                0.0,
+                0.029999999329447746
+            ],
+            "quat": [
+                6.123234262925839e-17,
+                0.7071067690849304,
+                0.7071067690849304,
+                -4.329780301713277e-17
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "ordertapsawyer/000",
+        "task_type": "OrderTapSawyer"
+    }
+}