add N053/sawyer_umi/dr_on/seed_2048

N053/sawyer_umi/dr_on/seed_2048/rec/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 which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1636 rows vs ceil(3271/2) = 1636"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 61..3331, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "35.43 MB, 1636 frames at 25 fps, mean luma 93..164, std 33, new picture 1635x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1636 vs 1636"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "35.43 MB, 1636 frames at 25 fps, mean luma 78..110, std 29, new picture 1635x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1636 vs 1636"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "memorystage/000/sim_info"
+  }
+ }
+}

N053/sawyer_umi/dr_on/seed_2048/rec/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/sz850_atomic/n053_saw_on_2048/out/rec  task=N053  at verify_collect_dataset.py
+dataset root /mnt/scratch/sz850_atomic/n053_saw_on_2048/out/rec/memorystage/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1636  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: 1636 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 which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'
+rows 1636 at dataset fps 25 = 65.44 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1636 rows vs ceil(3271/2) = 1636
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..3331, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 35.43 MB, 1636 frames at 25 fps, mean luma 93..164, std 33, new picture 1635x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1636 vs 1636
+[PASS] video observation.images.wrist decodes, 640x480, not black: 35.43 MB, 1636 frames at 25 fps, mean luma 78..110, std 29, new picture 1635x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1636 vs 1636
+parquet size 1.80 MB
+[PASS] sim_info present: memorystage/000/sim_info
+dataset size 72.84 MB; whole cell dir 73.9 MB
+RESULT: ALL PASS

N053/sawyer_umi/dr_on/seed_2048/rec/memorystage/000/completed/0.json

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

N053/sawyer_umi/dr_on/seed_2048/rec/memorystage/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:154c06e90a868a462abf64c7606a57fd1ee295a996f37e07e3f0c7b9baabaa2d
+size 1801552

N053/sawyer_umi/dr_on/seed_2048/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 1636, "magicsim/control_steps": 3271, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table a is behind the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is to the left of the rack. The rack is in front of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from left, at table height."}

N053/sawyer_umi/dr_on/seed_2048/rec/memorystage/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
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N053/sawyer_umi/dr_on/seed_2048/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,557 @@
+{
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+ "env_id": 0,
+ "task_type": "MemoryStage",
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+ "control_steps": 3271,
+ "language": {
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+     "relation": "on_top_of",
+     "object": "rack_1"
+    },
+    {
+     "subject": "st_wall_1",
+     "relation": "left_of",
+     "object": "rack_1"
+    },
+    {
+     "subject": "st_table_a_1",
+     "relation": "behind",
+     "object": "rack_1"
+    },
+    {
+     "subject": "st_table_b_1",
+     "relation": "right_of",
+     "object": "pen_s1_1"
+    },
+    {
+     "subject": "st_booth_l_1",
+     "relation": "on_top_of",
+     "object": "rack_1"
+    },
+    {
+     "subject": "st_booth_l_1",
+     "relation": "right_of",
+     "object": "rack_1"
+    },
+    {
+     "subject": "st_booth_r_1",
+     "relation": "left_of",
+     "object": "rack_1"
+    },
+    {
+     "subject": "rack_1",
+     "relation": "in_front_of",
+     "object": "st_table_a_1"
+    },
+    {
+     "subject": "pen_s0_1",
+     "relation": "right_of",
+     "object": "tag_red_1"
+    },
+    {
+     "subject": "pen_s1_1",
+     "relation": "right_of",
+     "object": "tag_blue_1"
+    },
+    {
+     "subject": "pad_1",
+     "relation": "left_of",
+     "object": "pen_s1_1"
+    },
+    {
+     "subject": "tag_red_1",
+     "relation": "left_of",
+     "object": "pen_s0_1"
+    },
+    {
+     "subject": "tag_blue_1",
+     "relation": "left_of",
+     "object": "pen_s1_1"
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+   "cameras": [
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+     "intrinsics": {
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+      "resolution": [
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+       480
+      ]
+     },
+     "pos_robot": [
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+      2.9752587938020643,
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+     "viewpoint": "left, at table height",
+     "extrinsics": {
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+    },
+    {
+     "name": "wrist",
+     "intrinsics": {
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+      "fov_h_deg": 90.0,
+      "resolution": [
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+     "viewpoint": "left, at table height",
+     "extrinsics": {
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+     }
+    }
+   ],
+   "robots": [
+    {
+     "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": [
+       -3.2643,
+       -2.1898,
+       0.06
+      ],
+      "ori": [
+       0.9923218488693237,
+       0.0,
+       0.0,
+       -0.12368247658014297
+      ]
+     },
+     "facing_yaw_deg": -14.209353716395098,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1000.0,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table a is behind the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is to the left of the rack. The rack is in front of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from left, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n   [st wall]\n     [st booth r]]\n\n\n[tag blue]k]\n\n [st table b]le a]\n\n                        [robot]"
+  },
+  "task": {
+   "task_type": "MemoryStage",
+   "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Memorystage the 1.5707963267948966.",
+   "task_id": "N053",
+   "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
+}

N053/sawyer_umi/dr_on/seed_2048/rec/memorystage/000/lerobot_v21/meta/info.json

@@ -0,0 +1,335 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "RidgebackSawyerUmiCfg",
+    "total_episodes": 1,
+    "total_frames": 1636,
+    "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": [
+                11
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "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": [
+                7
+            ],
+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                88
+            ],
+            "names": [
+                "articulation_joint_pos.rack.0",
+                "articulation_joint_pos.rack.1",
+                "articulation_joint_vel.rack.0",
+                "articulation_joint_vel.rack.1",
+                "articulation_pose.rack.0",
+                "articulation_pose.rack.1",
+                "articulation_pose.rack.2",
+                "articulation_pose.rack.3",
+                "articulation_pose.rack.4",
+                "articulation_pose.rack.5",
+                "articulation_pose.rack.6",
+                "object_pose.pad.0",
+                "object_pose.pad.1",
+                "object_pose.pad.2",
+                "object_pose.pad.3",
+                "object_pose.pad.4",
+                "object_pose.pad.5",
+                "object_pose.pad.6",
+                "object_pose.pen_s0.0",
+                "object_pose.pen_s0.1",
+                "object_pose.pen_s0.2",
+                "object_pose.pen_s0.3",
+                "object_pose.pen_s0.4",
+                "object_pose.pen_s0.5",
+                "object_pose.pen_s0.6",
+                "object_pose.pen_s1.0",
+                "object_pose.pen_s1.1",
+                "object_pose.pen_s1.2",
+                "object_pose.pen_s1.3",
+                "object_pose.pen_s1.4",
+                "object_pose.pen_s1.5",
+                "object_pose.pen_s1.6",
+                "object_pose.rack.0",
+                "object_pose.rack.1",
+                "object_pose.rack.2",
+                "object_pose.rack.3",
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N053/sawyer_umi/dr_on/seed_2048/rec/memorystage/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,264 @@
+{
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N053/sawyer_umi/dr_on/seed_2048/rec/memorystage/000/lerobot_v21/meta/stats.json

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+}

N053/sawyer_umi/dr_on/seed_2048/rec/memorystage/000/sim_info/0/actions.npz

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N053/sawyer_umi/dr_on/seed_2048/rec/memorystage/000/sim_info/0/scene_snapshot.json

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+        "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)"
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N053/sawyer_umi/dr_on/seed_2048/rec/memorystage/000/sim_info/magicsim_manifest.json

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+        "task_type": "MemoryStage"
+    }
+}

N053/sawyer_umi/dr_on/seed_2048/rec/memorystage/000/visual_dr.json

@@ -0,0 +1,686 @@
+{
+ "version": 1,
+ "settings": {
+  "enabled": false,
+  "keep": [
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+  "dome_tint_sat": [
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+  "hdr_dir": "$MAGICSIM_ASSETS/Background",
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+   0.3
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+   1.25
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+       0.77758,
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+     "mdl": "Ground/Cobblestone_Medieval.mdl",
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+     "bind_failed": 0
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+     "mdl": "Source/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl",
+     "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
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+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Concrete/Concrete_Formed.mdl",
+     "material": "/MmbVdrLooks/Source_Concrete_Concrete_Formed",
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+     "bind_failed": 0
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+    "rigid_body": 97,
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+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_4/World/mesh",
+      "rigid_body"
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+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_5/World/mesh",
+      "rigid_body"
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+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_6/World/mesh",
+      "rigid_body"
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+     [
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+      "rigid_body"
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+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
+     ],
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+      "rigid_body"
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+     [
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+      "rigid_body"
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+     [
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+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/rear_laser/collisions/mesh_0/box",
+      "rigid_body"
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+      "rigid_body"
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+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/collisions/mesh_0/cylinder",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh1",
+      "rigid_body"
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+     [
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+      "rigid_body"
+     ],
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+      "rigid_body"
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+      "rigid_body"
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+      "rigid_body"
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+      "rigid_body"
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+     [
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+      "rigid_body"
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+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh3",
+      "rigid_body"
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+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh5",
+      "rigid_body"
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+     [
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+      "rigid_body"
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+      "rigid_body"
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+      "rigid_body"
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+     [
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+      "rigid_body"
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+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh1",
+      "rigid_body"
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+     [
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+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/collisions/mesh_0/sphere",
+      "rigid_body"
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+     [
+      "/World/envs/env_0/Robot_0/screen/visuals/mesh_0/box",
+      "rigid_body"
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+   "no_swap": [
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+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "reason": "glass",
+     "bound_prims": 1
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+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
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+   "unsupported": [
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+     "mdl": "OmniGlass.mdl",
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+  {
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+   "seeds": {
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+     "shader": "omnipbr",
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+   "display_colors": [],
+   "swapped": [
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+     "role": "ground",
+     "mdl": "Ground/Cobblestone_Medieval.mdl",
+     "material": "/MmbVdrLooks/Ground_Cobblestone_Medieval",
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+    },
+    {
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+     "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway",
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+    "examples": [
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+      "rigid_body"
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+      "rigid_body"
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+      "rigid_body"
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+      "rigid_body"
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+      "rigid_body"
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+      "rigid_body"
+     ],
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+      "rigid_body"
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+      "rigid_body"
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+     ],
+     [
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+      "rigid_body"
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+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh6",
+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
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+      "rigid_body"
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+     [
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+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
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+     [
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+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
+     ],
+     [
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+      "rigid_body"
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+    ]
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+     "reason": "glass",
+     "bound_prims": 1
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+     "reason": "emissive",
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+   "unsupported": [
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+     "mdl": "OmniGlass.mdl",
+     "bound_prims": 1
+    }
+   ]
+  }
+ ]
+}

N053/sawyer_umi/dr_on/seed_2048/report.json

@@ -0,0 +1,1101 @@
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