add 1 staged episodes

N011/sawyer_umi/dr_on/seed_2070/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'; expected 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "6910 rows vs ceil(13819/2) = 6910"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 241..14059, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "140.19 MB, 6910 frames at 25 fps, mean luma 67..102, std 32, new picture 6909x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "6910 vs 6910"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "125.17 MB, 6910 frames at 25 fps, mean luma 78..116, std 25, new picture 6909x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "6910 vs 6910"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "ladle/000/sim_info"
+  }
+ }
+}

N011/sawyer_umi/dr_on/seed_2070/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n011_saw_on_2070/out  task=N011  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n011_saw_on_2070/out/ladle/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 6910  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: 6910 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']
+[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'; expected 'Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.'
+rows 6910 at dataset fps 25 = 276.40 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 6910 rows vs ceil(13819/2) = 6910
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 241..14059, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 140.19 MB, 6910 frames at 25 fps, mean luma 67..102, std 32, new picture 6909x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 6910 vs 6910
+[PASS] video observation.images.wrist decodes, 640x480, not black: 125.17 MB, 6910 frames at 25 fps, mean luma 78..116, std 25, new picture 6909x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 6910 vs 6910
+parquet size 676.65 MB
+[PASS] sim_info present: ladle/000/sim_info
+dataset size 948.16 MB; whole cell dir 2054.3 MB
+RESULT: ALL PASS

N011/sawyer_umi/dr_on/seed_2070/config.yaml

@@ -0,0 +1,734 @@
+env_string: LadleEnv-V0
+env:
+  sim:
+    device: cpu
+    use_fabric: false
+    decimation: 4
+    dt: 0.005
+    seed: 2070
+    soft_resets: 1000000
+    scene:
+      num_envs: 1
+      env_spacing: 14
+    render:
+      rendering_mode: performance
+      enable_reflections: false
+      enable_global_illumination: false
+      enable_translucency: false
+      enable_dl_denoiser: false
+  robot:
+    RidgebackSawyerUmi:
+      name: ridgebacksawyer_umi
+      type: mobilemanip
+      common:
+        pos:
+        - - -2.8840614323192506
+          - -1.6065377921653567
+          - 0.06
+        - - -2.8840614323192506
+          - -1.6065377921653567
+          - 0.06
+        ori:
+        - - 0
+          - 0
+          - 29.999999999999993
+        - - 0
+          - 0
+          - 29.999999999999993
+        initial_joint_pos:
+          dummy_base_.*: 0.0
+          head_pan: 0.0
+          right_j0: 0.0
+          right_j1: -1.6
+          right_j2: 0.0
+          right_j3: 0.5
+          right_j4: 0.0
+          right_j5: 2.7
+          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: 32
+          ik_max_goalset: 64
+          ik_position_threshold: 0.005
+          ik_rotation_threshold: 0.05
+          microbatch_wait_ms: 20.0
+          relative_to_world_frame: false
+        motiongen:
+          type: ridgebacksawyer_umi
+          enable: true
+          motiongen_num_instances: 1
+          max_attempts: 6
+          batch_size: 1
+          microbatch_wait_ms: 20.0
+          mode: position
+          relative_to_world_frame: false
+          start_state_limit_inset: 0.002
+          num_trajopt_seeds: 1
+          num_ik_seeds: 4
+        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: 0.4
+            max_steer_rate: 1.5
+            max_accel_vx: 0.4
+            max_accel_vy: 0.4
+            max_yaw_accel: 0.4444444444444445
+            w_goal: 6.0
+            w_path: 8.0
+            w_vel: 0.2
+            w_vy: 0.0
+            goal_cost_mode: path
+            dilate_radius: 0.36
+            room_size: 12.0
+            occupancy_update_interval: 25
+            scan_height: 0.38
+            scan_min_z: 0.15
+            scan_max_z: 1.68
+            goal_pos_threshold: 0.03
+            goal_yaw_threshold: 0.05
+            kp_goal_yaw: 1.5
+            heading_reference: path
+            turn_yaw_threshold: 0.8
+            heading_lookahead: 0.8
+            heading_min_leg: 0.35
+            route_yaw_gain: 2.0
+            goal_yaw_hysteresis: 0.02
+            min_speed: -0.2
+            max_speed: 0.2
+            min_vx: -0.2
+            max_vx: 0.2
+            min_vy: -0.2
+            max_vy: 0.2
+            min_yaw_rate: -0.22222222222222224
+            max_yaw_rate: 0.22222222222222224
+        arm:
+          type: default
+        eef:
+          type: default
+      physics:
+        robot_radius: 0.8
+        wheel_base: 0.01
+      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
+  scene:
+    terrain:
+      type: nav_room
+      collision: true
+      hide_top_walls: true
+      usd:
+      - $MAGICSIM_ASSETS/Room/Collected_SimpleRoom
+      annotation: Annotation
+      random: false
+      pos:
+      - 0.0
+      - 0.0
+      - 0.0
+      ori:
+      - 0.0
+      - 0.0
+      - 0.0
+      scale:
+      - 1.0
+      - 1.0
+      - 1.0
+      physics_material:
+        static_friction: 1.0
+        dynamic_friction: 1.0
+        restitution: 0.0
+        friction_combine_mode: multiply
+        restitution_combine_mode: multiply
+    background:
+      intensity:
+      - 1000
+      - 1000
+    light:
+      light_1:
+        types:
+        - Dome
+        common:
+          pos:
+          - 0.0
+          - 0.0
+          - 0.0
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          color_temperature_range:
+          - 6500
+          - 6500
+          color_range:
+          - - 1.0
+            - 1.0
+            - 1.0
+          - - 1.0
+            - 1.0
+            - 1.0
+        Dome:
+          intensity_range:
+          - 974.5575014305853
+          - 974.5575014305853
+    water:
+      max_particles: 9000
+      particle:
+        fluid_rest_offset: 0.0027
+        ccd: true
+      look:
+        mode: spheres
+        color:
+        - 0.05
+        - 0.45
+        - 1.0
+        bead_scale: 1.5
+      retire:
+        floor_ttl: 3600.0
+        max_age: 7200.0
+        radius: 30.0
+        below: -2.0
+    objects:
+      table_a:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        table_a_1:
+          pos:
+          - -1.0
+          - 3.2
+          - 0.30500000000000005
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 1.5
+          - 0.6
+          - 0.55
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.35
+              - 0.37
+              - 0.4
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.8633565561321817
+              dynamic_friction: 0.6475174170991362
+              restitution: 0.0
+      table_b:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        table_b_1:
+          pos:
+          - 2.6
+          - 0.4
+          - 0.30500000000000005
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.7
+          - 1.0
+          - 0.55
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.35
+              - 0.37
+              - 0.4
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.853567181745286
+              dynamic_friction: 0.6401753863089644
+              restitution: 0.0
+      ladle:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Ladle/Object.usda
+        num_per_env: 1
+        random: false
+        ladle_1:
+          pos:
+          - -1.3586211672651922
+          - 3.125759689536009
+          - 0.7410000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 86.15614086495452
+          physics:
+            type: rigid
+            mass: 0.04522045476197788
+            physics_material:
+              static_friction: 1.6257156619267386
+              dynamic_friction: 1.422501204185896
+              restitution: 0.0
+          water: {}
+      rack_a0:
+        usd:
+        - Cube
+        num_per_env: 1
+        random: false
+        rack_a0_1:
+          pos:
+          - -1.35
+          - 3.205
+          - 0.655
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          scale:
+          - 0.1
+          - 0.06999999999999999
+          - 0.15000000000000002
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - - 0.45
+              - 0.3
+              - 0.18
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.8151346096258205
+              dynamic_friction: 0.6113509572193654
+              restitution: 0.0
+      basin:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/Basin/Object.usda
+        num_per_env: 1
+        random: false
+        basin_1:
+          pos:
+          - -0.55
+          - 3.2
+          - 0.5950000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          physics:
+            type: geometry
+            collision: true
+            physics_material:
+              static_friction: 0.8722387013869851
+              dynamic_friction: 0.6541790260402388
+              restitution: 0.0
+          water: {}
+      cup:
+        usd:
+        - $MAGICSIM_ASSETS/Object/MMB/ReceivingCup/Object.usda
+        num_per_env: 1
+        random: false
+        cup_1:
+          pos:
+          - 2.361574392685196
+          - 0.4092018921725289
+          - 0.5810000000000001
+          ori:
+          - 0.0
+          - 0.0
+          - 0.0
+          physics:
+            type: rigid
+            mass: 0.19293579828599938
+            physics_material:
+              static_friction: 0.7503548069886762
+              dynamic_friction: 0.562766105241507
+              restitution: 0.0
+          water: {}
+  nav:
+    navmesh:
+      enabled: true
+      visualize: false
+      bake_timeout_s: 120
+      agent_height_cm: 170
+      min_agent_radius_cm: 55.0
+      max_agent_radius_cm: 55.0
+      max_step_height_cm: 20
+      max_floor_slope_deg: 30
+      agent_island_radius_cm: 5
+      auto_exclude_rigid_bodies: true
+      validate_path_clearance: true
+      validate_path_window: true
+      navmesh_offset_z_m: 0
+      verbose: true
+    occupancymap:
+      cell_size: 0.05
+task:
+  observation: {}
+  reward: {}
+  termination:
+    timeout_steps: 24000
+    success_hold_frames: 1
+  mmb:
+    task_id: N011
+    agent_id: a03
+    embodiment: stretch3
+    level: easy
+    scene_seed: 2070
+    layout:
+      S:
+      - -2.8840614323192506
+      - -1.6065377921653567
+      - 0.5235987755982987
+      tables:
+        A:
+          center:
+          - -1.0
+          - 3.2
+          size:
+          - 1.5
+          - 0.6
+          top: 0.5800000000000001
+          color:
+          - 0.35
+          - 0.37
+          - 0.4
+        B:
+          center:
+          - 2.6
+          - 0.4
+          size:
+          - 0.7
+          - 1.0
+          top: 0.5800000000000001
+          color:
+          - 0.35
+          - 0.37
+          - 0.4
+      stations:
+        A:
+          table: A
+          work_point:
+          - -1.35
+          - 3.12
+          arm_dir:
+          - 0.0
+          - 1.0
+          reach: 0.9
+          fwd: -0.021
+          stand:
+          - -1.371
+          - 2.22
+          - 1.5707963267948966
+        B:
+          table: B
+          work_point:
+          - 2.38
+          - 0.4
+          arm_dir:
+          - 1.0
+          - 0.0
+          reach: 0.9
+          fwd: -0.021
+          stand:
+          - 1.48
+          - 0.42100000000000004
+          - 0.0
+    hold_ticks: 40
+    grace_ticks: 400
+    water_settle_ticks: 150
+    object_settle_ticks: 60
+    planning:
+      avoid:
+      - dynamic
+      ignore:
+      - ladle
+      - water
+    water:
+      max_particles: 9000
+    basin:
+      center:
+      - -0.55
+      - 3.2
+      floor_z: 0.5950000000000001
+      water_depth: 0.1
+      inner:
+      - 0.12
+      - 0.11
+      - 0.12
+      a2_stand:
+      - -0.559
+      - 2.0250000000000004
+      - 1.5707963267948966
+    cup:
+      center:
+      - 2.361574392685196
+      - 0.4092018921725289
+      rim_above_table: 0.075
+    success:
+      min_deliver_ml: 20.0
+      max_spill_ml: 15.0
+      min_carry_frac: 0.5
+      max_base_speed_at_pour: 0.05
+    tool:
+      category: ladle
+      asset: Ladle
+      plate_z: 0.7400000000000001
+    view:
+      eye:
+      - 2.9299999999999997
+      - -0.15000000000000002
+      - 0.9800000000000001
+      target:
+      - 2.33
+      - 0.4
+      - 0.68
+    dr:
+      seed: 2070
+      spawn_dxy:
+      - 0.116
+      - 0.193
+      friction_scale:
+        basin_1: 1.09
+        cup_1: 0.938
+        ladle_1: 1.016
+        rack_a0_1: 1.019
+        table_a_1: 1.079
+        table_b_1: 1.067
+      moved:
+        ladle_1:
+        - -0.0086
+        - 0.0058
+        - -3.84
+        cup_1:
+        - -0.0184
+        - 0.0092
+      light_scale: 1.083
+collect:
+  command:
+    Ladle:
+      stage_retries: 2
+      robot_id: 0
+      init_limit: 30
+      max_attempt: 1
+      completion_timeout_steps: 3600
+      pre_back: 0.12
+      lift: 0.1
+      carry:
+        lateral: 0.66
+        forward: 0.0
+        z: 0.95
+      carry_b:
+        lateral: 0.52
+        forward: 0.0
+        z: 0.95
+      dip:
+        above: 0.12
+        clear_bottom: 0.006
+        rim_under: -0.017
+        tilt_deg: 35.0
+        fill_ticks: 60
+        dwell_ticks: 90
+        rise: 0.12
+      pour:
+        clearance: 0.06
+        aim: -0.04
+        pre_pitch_deg: 10.0
+        pre_pitch_variants:
+        - 0.0
+        - 5.0
+        - -5.0
+        pitch_deg:
+        - 70.0
+        - 100.0
+        lip_drift: 0.03
+        reach_margin: 0.015
+        hold_ticks: 240
+        stop_ticks: 90
+        drain:
+          pitch_deg: 85.0
+          aim: 0.0
+          hold_ticks: 90
+        mode: roll
+        roll_sign: -1.0
+      modes:
+        pre_grasp: -1
+        grasp: 4
+        lift: 4
+        carry: -1
+        pre_dip: 4
+        dip: 4
+        level: 4
+        trim: 4
+        rise: 4
+        pre_pour: 4
+        tilt: 4
+        retreat: 4
+        carry_2: 4
+      carry_min_z: 0.9
+  global_planner:
+    NavTo:
+      use_navmesh: true
+      use_absolute: true
+      translation_threshold: 0.04
+      rotation_threshold: 0.1
+      num_path_segments: 30
+      start_forward_offset: 0.0
+      visualize_path: false
+      carry_arm: true
+    NavToTrim:
+      use_navmesh: false
+      carry_arm: true
+      visualize_path: false
+      trim_pos_threshold: 0.01
+      trim_yaw_threshold: 0.015
+      max_steps: 1500
+    MobileMoveL:
+      translation_threshold: 0.008
+      rotation_threshold: 0.08
+      stall_release_ticks: 80
+      stall_release_factor: 2.5
+      motiongen_distance_threshold: 0.0
+      timeout_steps: 3600
+      timeout_done_tolerance: 0.06
+      debug: false
+      debug_viz: false
+      debug_sphere: false
+      reactive: false
+      base_pos_threshold: 0.025
+      base_rot_threshold: 0.05
+      eef_pos_threshold: 0.03
+      eef_rot_threshold: 0.1
+      waypoint_max_steps: 30
+      interp_steps: 480
+      stall_release_final_factor: 7.5
+    ParallelGripper:
+      gripper_threshold: 0.001
+  atomic_skill:
+    NavToPose:
+      robot_id: 0
+      position_threshold: 0.08
+      angle_threshold: 0.1
+      trim: false
+    Move:
+      robot_id: 0
+      hand_id: 0
+      arm_planner: MobileMoveL
+      hand_planner: ParallelGripper
+      ramp_steps: 0
+      hold_steps: 60
+      open_value: 0.0
+      close_value: 1.0
+  auto_collect:
+    task_type: ladle
+    max_trajectories: 1
+  record:
+    output_dir: /mnt/scratch/xc536_atomic/n011_saw_on_2070/out
+    formats:
+    - lerobot_v21
+    - sim_info
+    clear_buffer_on_failure: true
+    lerobot:
+      subsample_every: 2
+visual_dr:
+  keep:
+  - Water

N011/sawyer_umi/dr_on/seed_2070/ladle/000/completed/0.json

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

N011/sawyer_umi/dr_on/seed_2070/ladle/000/lerobot_v21/data/chunk-000/episode_000000.parquet

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+oid sha256:eeba734ad0fba1454b171e073775adc52c39acc6501ca93e41b0e31d527db188
+size 676648933

N011/sawyer_umi/dr_on/seed_2070/ladle/000/lerobot_v21/meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup."], "length": 6910, "magicsim/control_steps": 13819, "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 brown rack a0. There are a large gray table a, a large gray table b, a medium ladle, a large brown rack a0, a medium basin and a small cup. The gray table a is to the right of the brown rack a0. The gray table b is to the right of the cup. The ladle is on top of the brown rack a0. The ladle is to the right of the brown rack a0. The brown rack a0 is to the left of the ladle. The basin is on top of the gray table a. The basin is to the right of the gray table a. The cup is on top of the gray table b. The cup is to the left of the gray table b. The scene is lit by a cool light from the front. The scene is viewed from front, at table height."}

N011/sawyer_umi/dr_on/seed_2070/ladle/000/lerobot_v21/meta/extra/episode_000000.json

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+    {
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+     "relation": "right_of",
+     "object": "cup_1"
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+    {
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+     "relation": "on_top_of",
+     "object": "rack_a0_1"
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+    {
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+     "relation": "right_of",
+     "object": "rack_a0_1"
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+     "object": "table_a_1"
+    },
+    {
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+     "relation": "right_of",
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+     "object": "table_b_1"
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+    {
+     "subject": "cup_1",
+     "relation": "left_of",
+     "object": "table_b_1"
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+   "cameras": [
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+     "type": "mobilemanip",
+     "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper",
+     "arms": 1,
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+     "gripper": "parallel gripper"
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+   "lighting": [
+    {
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+     "kind": "light",
+     "type": "dome",
+     "pose": {
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+     "warmth": "cool",
+     "color": "white",
+     "direction": "from the front"
+    }
+   ],
+   "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 Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the brown rack a0. There are a large gray table a, a large gray table b, a medium ladle, a large brown rack a0, a medium basin and a small cup. The gray table a is to the right of the brown rack a0. The gray table b is to the right of the cup. The ladle is on top of the brown rack a0. The ladle is to the right of the brown rack a0. The brown rack a0 is to the left of the ladle. The basin is on top of the gray table a. The basin is to the right of the gray table a. The cup is on top of the gray table b. The cup is to the left of the gray table b. The scene is lit by a cool light from the front. The scene is viewed from front, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                      [tab[cup]\n\n [t[basin]\n[rack a0]\n\n\n\n\n                       [robot]"
+  },
+  "task": {
+   "task_type": "Ladle",
+   "instruction": "Go to the water basin, scoop up some water with the ladle, carry it to the cup, and pour the water into the cup.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Ladle the 1.5707963267948966.",
+   "task_id": "N011",
+   "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
+}

N011/sawyer_umi/dr_on/seed_2070/ladle/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,264 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-10 04:31:15"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "RidgebackSawyerUmi",
+                "cfg": "RidgebackSawyerUmiCfg",
+                "type": "mobilemanip",
+                "joint_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"
+                ]
+            }
+        ]
+    },
+    "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"
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+                "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"
+            }
+        ]
+    },
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+        "dim": 15,
+        "segments": [
+            {
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+                "end": 13,
+                "names": [
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+                    "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": {
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+        "video_keys": [
+            "observation.images.head",
+            "observation.images.wrist"
+        ],
+        "columns": [
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+            "collect_info",
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+            "extra.reward",
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N011/sawyer_umi/dr_on/seed_2070/ladle/000/lerobot_v21/meta/tasks.jsonl

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N011/sawyer_umi/dr_on/seed_2070/ladle/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

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+                        "pre_pitch_variants": [
+                            0.0,
+                            5.0,
+                            -5.0
+                        ],
+                        "pitch_deg": [
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+                            100.0
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+                        "hold_ticks": 240,
+                        "stop_ticks": 90,
+                        "drain": {
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+                            "aim": 0.0,
+                            "hold_ticks": 90
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+                        "level": 4,
+                        "trim": 4,
+                        "rise": 4,
+                        "pre_pour": 4,
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+                        "retreat": 4,
+                        "carry_2": 4
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+                }
+            }
+        },
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+                    "init_limit": 30,
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+                    "completion_timeout_steps": 3600,
+                    "pre_back": 0.12,
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+                        "forward": 0.0,
+                        "z": 0.95
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+                        "forward": 0.0,
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+                        "clear_bottom": 0.006,
+                        "rim_under": -0.017,
+                        "tilt_deg": 35.0,
+                        "fill_ticks": 60,
+                        "dwell_ticks": 90,
+                        "rise": 0.12
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+                        "pre_pitch_variants": [
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+                            5.0,
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+                        "stop_ticks": 90,
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+                        "rise": 4,
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+                        "retreat": 4,
+                        "carry_2": 4
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+            "global_planner": {
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+                    "use_navmesh": true,
+                    "use_absolute": true,
+                    "translation_threshold": 0.04,
+                    "rotation_threshold": 0.1,
+                    "num_path_segments": 30,
+                    "start_forward_offset": 0.0,
+                    "visualize_path": false,
+                    "carry_arm": true
+                },
+                "NavToTrim": {
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+                    "carry_arm": true,
+                    "visualize_path": false,
+                    "trim_pos_threshold": 0.01,
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+                    "max_steps": 1500
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+                    "rotation_threshold": 0.08,
+                    "stall_release_ticks": 80,
+                    "stall_release_factor": 2.5,
+                    "motiongen_distance_threshold": 0.0,
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+                    "timeout_done_tolerance": 0.06,
+                    "debug": false,
+                    "debug_viz": false,
+                    "debug_sphere": false,
+                    "reactive": false,
+                    "base_pos_threshold": 0.025,
+                    "base_rot_threshold": 0.05,
+                    "eef_pos_threshold": 0.03,
+                    "eef_rot_threshold": 0.1,
+                    "waypoint_max_steps": 30,
+                    "interp_steps": 480,
+                    "stall_release_final_factor": 7.5
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+                "ParallelGripper": {
+                    "gripper_threshold": 0.001
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+            "atomic_skill": {
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+                    "position_threshold": 0.08,
+                    "angle_threshold": 0.1,
+                    "trim": false
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+                    "arm_planner": "MobileMoveL",
+                    "hand_planner": "ParallelGripper",
+                    "ramp_steps": 0,
+                    "hold_steps": 60,
+                    "open_value": 0.0,
+                    "close_value": 1.0
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+            },
+            "auto_collect": {
+                "task_type": "ladle",
+                "max_trajectories": 1
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+            "record": {
+                "output_dir": "/mnt/scratch/xc536_atomic/n011_saw_on_2070/out",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            }
+        },
+        "visual_dr": {
+            "keep": [
+                "Water"
+            ]
+        }
+    },
+    "git_sha": null,
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}

N011/sawyer_umi/dr_on/seed_2070/ladle/000/sim_info/0/actions.npz

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+size 1386899

N011/sawyer_umi/dr_on/seed_2070/ladle/000/sim_info/0/sim_states.npz

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+size 1098144888

N011/sawyer_umi/dr_on/seed_2070/ladle/000/sim_info/magicsim_manifest.json

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+{
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+    "generated": {
+        "time": "2026-11-10 04:33:19"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "RidgebackSawyerUmi",
+                "cfg": "RidgebackSawyerUmiCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
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+    "timing": {
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+        "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"
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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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+                    "frame0.pos_x",
+                    "frame0.pos_y",
+                    "frame0.pos_z",
+                    "frame0.quat_w",
+                    "frame0.quat_x",
+                    "frame0.quat_y",
+                    "frame0.quat_z"
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+                    "right_j5",
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+                "names_source": "joint_names"
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+        "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)"
+    },
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+    "generated_run": {
+        "run_id": "ladle/000",
+        "task_type": "Ladle"
+    }
+}

N011/sawyer_umi/dr_on/seed_2070/ladle/000/visual_dr.json

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+{
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+ "settings": {
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+  "keep": [
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+  "material_library": "$MAGICSIM_ASSETS/Material"
+ },
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+   "episode_seed": 2070,
+   "seeds": {
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+     "role": "ground",
+     "mdl": "Source/Wood/Wood_Tiles_Beech.mdl",
+     "material": "/MmbVdrLooks/Source_Wood_Wood_Tiles_Beech",
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+     "bind_failed": 0
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+     "bind_failed": 0
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+     "bind_failed": 0
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+     "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway",
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+    "rigid_body": 95,
+    "examples": [
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_1/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_2/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_3/World/mesh",
+      "rigid_body"
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+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_4/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_5/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_6/World/mesh",
+      "rigid_body"
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+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_7/World/mesh",
+      "rigid_body"
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+     [
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+      "rigid_body"
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