add 3 staged episodes

N009/go2_arm/dr_on/seed_2067/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'; expected 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1244 rows vs ceil(2487/2) = 1244"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 101..2587, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "17.69 MB, 1244 frames at 25 fps, mean luma 55..116, std 25, new picture 1239x = 24.9 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1244 vs 1244"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "24.51 MB, 1244 frames at 25 fps, mean luma 79..143, std 35, new picture 1243x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1244 vs 1244"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "record/stationlayer/000/sim_info"
+  }
+ }
+}

N009/go2_arm/dr_on/seed_2067/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n009_go2_on_2067/out  task=N009  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n009_go2_on_2067/out/record/stationlayer/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1244  videos 2  robot_type Go2PlusCfg
+[PASS] codebase v2.1: v2.1
+[PASS] dataset fps = 25: info.fps 25
+(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only)
+[PASS] parquet episodes: 1 files, info.total_episodes=1
+--- episode file episode_000000.parquet: 1244 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']
+[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'; expected 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'
+rows 1244 at dataset fps 25 = 49.76 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1244 rows vs ceil(2487/2) = 1244
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..2587, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 17.69 MB, 1244 frames at 25 fps, mean luma 55..116, std 25, new picture 1239x = 24.9 per s
+[PASS] video observation.images.head frames = parquet rows: 1244 vs 1244
+[PASS] video observation.images.wrist decodes, 640x480, not black: 24.51 MB, 1244 frames at 25 fps, mean luma 79..143, std 35, new picture 1243x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1244 vs 1244
+parquet size 34.01 MB
+[PASS] sim_info present: record/stationlayer/000/sim_info
+dataset size 78.67 MB; whole cell dir 115.8 MB
+RESULT: ALL PASS

N009/go2_arm/dr_on/seed_2067/config.yaml

@@ -0,0 +1,581 @@
+env:
+  sim:
+    device: cpu
+    use_fabric: false
+    decimation: 4
+    dt: 0.005
+    soft_resets: 2
+    scene:
+      num_envs: 1
+      env_spacing: 20
+    render:
+      rendering_mode: performance
+      enable_reflections: false
+      enable_global_illumination: false
+      enable_translucency: false
+      enable_dl_denoiser: false
+    physx:
+      gpu_collision_stack_size: 33554432
+      gpu_heap_capacity: 268435456
+    seed: 2067
+  robot:
+    Go2Plus:
+      name: go2plus
+      type: mobilemanip
+      common:
+        pos:
+        - - -3.5
+          - -2.3
+          - 0.42000000000000004
+        - - -2.9000000000000004
+          - -1.7
+          - 0.42000000000000004
+        ori:
+        - - 0.0
+          - 0.0
+          - -20.0
+        - - 0.0
+          - 0.0
+          - 20.0
+        initial_joint_pos: null
+      action:
+        base_action: ${oc.env:GO2PLUS_BASE_ACTION,unified}
+        arm_action: ik_curobo
+        eef_action: binary
+      reset: default
+      planner:
+        dual_mode: true
+        base_joint_names:
+        - base_x
+        - base_y
+        - base_yaw
+        - base_height
+        ik:
+          type: go2plus
+          enable: true
+          ik_num_instances: 1
+          ik_batch_size: 1
+          ik_num_seeds: 64
+          ik_position_threshold: 0.005
+          ik_rotation_threshold: 0.05
+          microbatch_wait_ms: 20.0
+          relative_to_world_frame: false
+          eef_num: 1
+          debug: false
+          seed_use_live_joint_pos: true
+        motiongen:
+          type: go2plus
+          enable: true
+          batch_size: 1
+          debug: false
+          motiongen_num_instances: 1
+          microbatch_wait_ms: 400.0
+          mode: position
+          relative_to_world_frame: false
+          eef_num: 1
+          seed_use_live_joint_pos: true
+          anchor_ik_seeds_to_current_state: false
+          num_trajopt_seeds: 1
+          num_ik_seeds: 4
+          max_attempts: 4
+          joint_limit_retry_weight: 100000000.0
+          start_state_limit_inset: 0.002
+        body:
+          type: nav
+          dwb_type: dwb_quadruped
+          dwb_quadruped:
+            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: 0.2
+            goal_cost_mode: path
+            room_size: 12.0
+            occupancy_update_interval: 25
+            scan_height: 0.38
+            scan_min_z: 0.15
+            scan_max_z: 0.63
+            goal_pos_threshold: 0.1
+            goal_yaw_threshold: 0.08
+            goal_yaw_hysteresis: 0.02
+            kp_goal_yaw: 4.0
+            heading_reference: path
+            turn_yaw_threshold: 0.8
+            heading_lookahead: 0.8
+            heading_min_leg: 0.35
+            route_yaw_gain: 2.0
+            min_vx: -0.35
+            max_vx: 0.35
+            min_vy: -0.25
+            max_vy: 0.25
+            min_yaw_rate: -0.8
+            max_yaw_rate: 0.8
+            dynamic_window_source: command
+            default_height: 0.39
+            safety_min_progress_speed: 0.1
+            safety_stop_distance: 0.2
+            safety_enabled: true
+            safety_deceleration: 0.5
+            safety_reaction_time: 0.5
+            safety_release_distance: 0.35
+            scan_type: 3d
+            robot_type: quadruped
+            velocity_frame: body
+          p_controller:
+            velocity_frame: body
+            nav_upgrade_distance: 0.03
+            nav_heading_target: -1
+            kp_linear_x: 3.0
+            kd_linear_x: 0.4
+            kp_linear_y: 3.0
+            kd_linear_y: 0.4
+            kp_angular: 1.5
+            kd_angular: 0.2
+            kp_angular_turning_only: 1.5
+            kd_angular_turning_only: 0.2
+            min_vel: -0.4
+            max_vel: 0.5
+            linear_dead_zone: 0.01
+            angular_dead_zone: 0.05
+        arm:
+          type: default
+        eef:
+          type: default
+      physics:
+        robot_radius: 0.5
+  camera:
+    enable_tiled: false
+    colorize_depth: false
+    head:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.8231182098388672
+        horizontal_aperture: 1.9199999570846558
+        vertical_aperture: 1.4407838582992554
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/Bodies/go2_base
+        pos:
+        - 0.332051
+        - 0.038027
+        - 0.093559
+        ori:
+        - 169.9473
+        - -88.6452
+        - 81.5985
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+    wrist:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.8517500162124634
+        horizontal_aperture: 1.9199999570846558
+        vertical_aperture: 1.4393036365509033
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/Bodies/piper_link6
+        pos:
+        - -0.074987
+        - 0.005289
+        - 0.045821
+        ori:
+        - 179.3135
+        - -20.212
+        - 88.9402
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+  nav:
+    navmesh:
+      enabled: true
+      visualize: false
+      bake_timeout_s: 180
+      agent_height_cm: 65
+      min_agent_radius_cm: 30.0
+      max_agent_radius_cm: 30.0
+      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: false
+    occupancymap:
+      cell_size: 0.05
+  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
+    objects:
+      table_a:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 1.2
+          - -1.8
+          - 0.28
+          ori:
+          - 0
+          - 0
+          - 0
+          scale:
+          - 0.6
+          - 0.9
+          - 0.5
+        table_a_1:
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          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:
+          - 2.2
+          - 2.0
+          - 0.28
+          ori:
+          - 0
+          - 0
+          - 0
+          scale:
+          - 0.9
+          - 0.6
+          - 0.5
+        table_b_1:
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - 0.55
+            - 0.42
+            - 0.3
+          physics:
+            type: geometry
+            collision: true
+      layer_bottom:
+        usd:
+        - $MAGICSIM_ASSETS/Object/DeformableProxy/towel_sheet.usd
+        random: false
+        num_per_env: 1
+        common:
+          scale:
+          - 0.8571428571428572
+          - 1.0
+          - 0.5
+        layer_bottom_1:
+          pos:
+          - 1.2
+          - -1.8
+          - 0.536
+          ori:
+          - 90.0
+          - 0.0
+          - 0.0
+          visual:
+            color:
+            - - 0.2
+              - 0.45
+              - 0.85
+          physics:
+            type: garment
+            ratio: 1.0
+            particle_system:
+              particle_system_enabled: true
+              enable_ccd: true
+              solver_position_iteration_count: 32
+              global_self_collision_enabled: true
+              non_particle_collision_enabled: true
+              contact_offset: 0.012
+              rest_offset: 0.01
+              particle_contact_offset: 0.005
+              fluid_rest_offset: 0.0025
+              solid_rest_offset: 0.0025
+              max_velocity: 5.0
+            particle_material:
+              adhesion: 0.1
+              particle_adhesion_scale: 0.2
+              particle_friction_scale: 0.6
+              friction: 1.0
+              damping: 0.05
+              gravity_scale: 1.0
+            garment_config:
+              particle_mass: 0.001
+              self_collision: true
+              self_collision_filter: true
+              stretch_stiffness: 100000000.0
+              bend_stiffness: 5000.0
+              shear_stiffness: 5000.0
+              spring_damping: 10.0
+      layer_top:
+        usd:
+        - $MAGICSIM_ASSETS/Object/DeformableProxy/towel_sheet.usd
+        random: false
+        num_per_env: 1
+        common:
+          scale:
+          - 0.8571428571428572
+          - 1.0
+          - 0.5
+        layer_top_1:
+          pos:
+          - 1.14
+          - -1.8
+          - 0.55
+          ori:
+          - 90.0
+          - 0.0
+          - 0.0
+          visual:
+            color:
+            - - 0.95
+              - 0.55
+              - 0.15
+          physics:
+            type: garment
+            ratio: 1.0
+            particle_system:
+              particle_system_enabled: true
+              enable_ccd: true
+              solver_position_iteration_count: 32
+              global_self_collision_enabled: true
+              non_particle_collision_enabled: true
+              contact_offset: 0.012
+              rest_offset: 0.01
+              particle_contact_offset: 0.005
+              fluid_rest_offset: 0.0025
+              solid_rest_offset: 0.0025
+              max_velocity: 5.0
+            particle_material:
+              adhesion: 0.1
+              particle_adhesion_scale: 0.2
+              particle_friction_scale: 0.6
+              friction: 1.0
+              damping: 0.05
+              gravity_scale: 1.0
+            garment_config:
+              particle_mass: 0.001
+              self_collision: true
+              self_collision_filter: true
+              stretch_stiffness: 100000000.0
+              bend_stiffness: 5000.0
+              shear_stiffness: 5000.0
+              spring_damping: 10.0
+task:
+  observation: {}
+  reward: {}
+  termination:
+    timeout_steps: 16000
+    success_hold_frames: 3
+    fall_height: 0.08
+    fall_tilt: 1.0
+  station:
+    level: easy
+    agent_id: a02
+    embodiment: go2_arm
+    task_version: EXT60-MobileAvatar-v3
+    execution_mode: expert_collect
+    layout:
+      table_h: 0.5
+      standoff: 0.306
+    settle_ticks: 80
+    hold_ticks: 10
+    judge_timeout_ticks: 300
+    default_avoid: []
+    report_jsonl: /mnt/scratch/xc536_atomic/n009_go2_on_2067/out/reports.jsonl
+    carried:
+      type: garment
+      name: layer_top
+      id: 0
+    tracked:
+    - type: garment
+      name: layer_bottom
+      id: 0
+    cloth:
+      category: layer_top
+    layers: {}
+    planner_seeds: lean
+    cloth_variant: null
+    record_scene_streams: true
+collect:
+  global_planner:
+    NavTo:
+      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
+      carry_arm: true
+    MobileMoveL:
+      translation_threshold: 0.012
+      rotation_threshold: 0.25
+      motiongen_distance_threshold: 0.05
+      timeout_steps: 1800
+      reactive: false
+      base_pos_threshold: 0.12
+      base_rot_threshold: 0.5
+      eef_pos_threshold: 0.03
+      eef_rot_threshold: 0.3
+      waypoint_max_steps: 8
+      interp_steps: 60
+      debug: false
+      debug_viz: false
+      retry_mobile_on_locked_plan_failure: true
+      stall_release_ticks: 100
+      stall_release_factor: 5.0
+      interp_validate_target: true
+    RetractMoveL:
+      translation_threshold: 0.06
+      rotation_threshold: 0.3
+      motiongen_distance_threshold: 0.05
+      timeout_steps: 2000
+      base_pos_threshold: 0.12
+      base_rot_threshold: 0.5
+      eef_pos_threshold: 0.03
+      eef_rot_threshold: 0.3
+      base_waypoint_max_steps: 20
+      arm_waypoint_max_steps: 8
+      move_strategy_distance_threshold: 0.1
+      debug: false
+      debug_viz: false
+    ParallelGripper:
+      gripper_threshold: 0.0005
+      timeout_steps: 60
+  atomic_skill:
+    StationNav:
+      robot_id: 0
+      show_marker: false
+    NavToPose:
+      robot_id: 0
+      show_marker: false
+    Move:
+      arm_planner: MobileMoveL
+      hand_planner: ParallelGripper
+      obstacle_avoid_paths: []
+      obstacle_ignore_paths: []
+      close_value: 1.0
+      open_value: 0.0
+      hold_steps: 10
+    Grasp:
+      pre_grasp_offset: 0.1
+      retrieval_offset: 0.1
+      mobile: true
+      pre_grasp_planner: MobileMoveL
+      pre_grasp_mode: -1
+      grasp_mode: 4
+      retrieval_mode: 4
+      reactive: false
+      viz_grasp: false
+  auto_collect:
+    max_trajectories: null
+  record:
+    output_dir: /mnt/scratch/xc536_atomic/n009_go2_on_2067/out/record
+    formats:
+    - lerobot_v21
+    - sim_info
+    clear_buffer_on_failure: true
+    lerobot:
+      subsample_every: 2
+  command:
+    StationLayer:
+      robot_id: 0
+      init_limit: 100
+      max_attempt: 2
+      completion_timeout_steps: 300
+      direction:
+      - -1.0
+      - 0.0
+      stages:
+        release_height: 0.01
+        settle_ticks: 240
+        grasp_tilt_deg: 10.0
+        pre_clear: 0.02
+        pre_place_hover: 0.06
+env_string: LayerEnv-V0
+visual_dr:
+  keep:
+  - layer_top
+  - layer_bottom

N009/go2_arm/dr_on/seed_2067/record/stationlayer/000/completed/0.json

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

N009/go2_arm/dr_on/seed_2067/record/stationlayer/000/joint_names.json

@@ -0,0 +1,24 @@
+{
+ "Go2Plus": [
+  "go2_FL_hip_joint",
+  "go2_FR_hip_joint",
+  "go2_RL_hip_joint",
+  "go2_RR_hip_joint",
+  "piper_joint1",
+  "go2_FL_thigh_joint",
+  "go2_FR_thigh_joint",
+  "go2_RL_thigh_joint",
+  "go2_RR_thigh_joint",
+  "piper_joint2",
+  "go2_FL_calf_joint",
+  "go2_FR_calf_joint",
+  "go2_RL_calf_joint",
+  "go2_RR_calf_joint",
+  "piper_joint3",
+  "piper_joint4",
+  "piper_joint5",
+  "piper_joint6",
+  "piper_joint7",
+  "piper_joint8"
+ ]
+}

N009/go2_arm/dr_on/seed_2067/record/stationlayer/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3980e71610b85814a90b5014a8f89a716e1e9decbc1afe44fbcc66ed3a38e346
+size 34010618

N009/go2_arm/dr_on/seed_2067/record/stationlayer/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table."], "length": 1244, "magicsim/control_steps": 2487, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table b. There are a large gray table a, a large gray table b, a small gray layer bottom and a small orange layer top. The gray table b is to the left of the gray table a. The gray layer bottom is in front of the orange layer top. The orange layer top is behind the gray layer bottom. The scene is viewed from front-left, at table height."}

N009/go2_arm/dr_on/seed_2067/record/stationlayer/000/lerobot_v21/meta/extra/episode_000000.json

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+}

N009/go2_arm/dr_on/seed_2067/record/stationlayer/000/lerobot_v21/meta/magicsim_manifest.json

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+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 17:01:29"
+    },
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+                "cfg": "Go2PlusCfg",
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+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
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+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
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+                    "piper_joint4",
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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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+        "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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+            "observation.eef_pose",
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+    "generated_run": {
+        "run_id": "stationlayer/000",
+        "task_type": "StationLayer"
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+}

N009/go2_arm/dr_on/seed_2067/record/stationlayer/000/lerobot_v21/meta/tasks.jsonl

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N009/go2_arm/dr_on/seed_2067/record/stationlayer/000/run_meta.json

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+    "created": "2026-11-08 16:35:21",
+    "num_envs": 1,
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+    "record_config": {
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+                "start": 11,
+                "end": 12,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 26,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_pos",
+                "start": 0,
+                "end": 24,
+                "names": [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11",
+                    "joint_12",
+                    "joint_13",
+                    "joint_14",
+                    "joint_15",
+                    "joint_16",
+                    "joint_17",
+                    "joint_18",
+                    "joint_19",
+                    "joint_20",
+                    "joint_21",
+                    "joint_22",
+                    "joint_23"
+                ],
+                "source": "ObservationManager",
+                "names_source": "fallback_dim_mismatch(joint_names=20,obs=24)"
+            },
+            {
+                "name": "Go2Plus.gripper_pos",
+                "start": 24,
+                "end": 26,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 20,
+        "segments": [
+            {
+                "name": "Go2Plus.joint_vel",
+                "start": 0,
+                "end": 20,
+                "names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
+                "K": [
+                    [
+                        607.7061061683956,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        607.3754374751866,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 55.53991912549515,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.33205100893974304,
+                0.038026999682188034,
+                0.09355899691581726
+            ],
+            "quat": [
+                -0.5022302269935608,
+                -0.499491810798645,
+                0.5120040774345398,
+                0.4859265089035034
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        617.2500342478374,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        617.548655622722,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 54.807019583348044,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                -0.0749870017170906,
+                0.005288999993354082,
+                0.04582099989056587
+            ],
+            "quat": [
+                0.1271296590566635,
+                0.701795220375061,
+                -0.6904057860374451,
+                -0.12108422070741653
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "stationlayer/000",
+        "task_type": "StationLayer"
+    }
+}

N009/go2_arm/dr_on/seed_2067/record/stationlayer/000/visual_dr.json

@@ -0,0 +1,676 @@
+{
+ "version": 1,
+ "settings": {
+  "enabled": false,
+  "keep": [
+   "layer_top",
+   "layer_bottom"
+  ],
+  "skip": [
+   "*Robot_*",
+   "*/Camera*",
+   "*/camera*"
+  ],
+  "light_intensity": [
+   0.6,
+   1.5
+  ],
+  "light_color_temperature": [
+   3500.0,
+   7500.0
+  ],
+  "light_jitter_deg": 5.0,
+  "dome_swap_prob": 0.5,
+  "dome_tint_sat": [
+   0.0,
+   0.15
+  ],
+  "dome_yaw": true,
+  "hdr_dir": "$MAGICSIM_ASSETS/Background",
+  "tint_sat": [
+   0.0,
+   0.3
+  ],
+  "tint_val": [
+   0.7,
+   1.0
+  ],
+  "roughness_scale": [
+   0.8,
+   1.25
+  ],
+  "material_swap": true,
+  "material_swap_prob": 1.0,
+  "material_library": "$MAGICSIM_ASSETS/Material"
+ },
+ "episodes": [
+  {
+   "env_ids": [
+    0
+   ],
+   "reset_index": 0,
+   "episode_seed": 2067,
+   "seeds": {
+    "0": 2067
+   },
+   "lights": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
+     "type": "RectLight",
+     "intensity": 9617.527853,
+     "intensity_base": 15000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 4799.98379,
+     "rotate_deg": [
+      2.517,
+      -4.643,
+      0.665
+     ]
+    }
+   ],
+   "domes": [
+    {
+     "path": "/World/background",
+     "type": "DomeLight",
+     "intensity": 892.466797,
+     "intensity_base": 1000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 6502.204895,
+     "rotate_deg": [
+      0.0,
+      0.0,
+      354.406
+     ],
+     "dome": {
+      "path": "/World/background",
+      "hdr_base": null,
+      "hdr": "/mnt/scratch/xc536_atomic_local/repo_2419c45eb/Assets/Background/noon_grass_4k.hdr",
+      "color": [
+       0.736525,
+       0.771205,
+       0.7412
+      ]
+     }
+    }
+   ],
+   "materials": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "shader": "omnipbr",
+     "color": [
+      0.954,
+      0.9427,
+      0.703
+     ],
+     "color_base": [
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+      1.0,
+      1.0
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+     "roughness": 0.569295,
+     "roughness_base": 0.5,
+     "bound_prims": 1
+    }
+   ],
+   "display_colors": [],
+   "swapped": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor",
+     "role": "ground",
+     "mdl": "Source/Concrete/Concrete_Wall_Aged.mdl",
+     "material": "/MmbVdrLooks/Source_Concrete_Concrete_Wall_Aged",
+     "bound_prims": 1,
+     "pool_size": 42,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic",
+     "role": "wall",
+     "mdl": "Source/Stone/Granite_Polished.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Granite_Polished",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Concrete/Concrete_Wall_Even.mdl",
+     "material": "/MmbVdrLooks/Source_Concrete_Concrete_Wall_Even",
+     "bound_prims": 22,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
+     "role": "wall",
+     "mdl": "Source/Paint/Chalk_Paint.mdl",
+     "material": "/MmbVdrLooks/Source_Paint_Chalk_Paint",
+     "bound_prims": 10,
+     "pool_size": 28,
+     "bind_failed": 0
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+    "physics_binding": 2,
+    "rigid_body": 222,
+    "examples": [
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+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calflower1_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_foot_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_hip/go2_FL_hip_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_thigh/go2_FL_thigh_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calf_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_calflower1_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_calf/go2_FR_foot_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_hip/go2_FR_hip_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FR_thigh/go2_FR_thigh_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calf_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_calflower1_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_calf/go2_RL_foot_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_hip/go2_RL_hip_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RL_thigh/go2_RL_thigh_geometry/collision_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_RR_calf/go2_RR_calf_geometry/visual_0",
+      "rigid_body"
+     ]
+    ]
+   },
+   "material_library": {
+    "root": "/mnt/scratch/xc536_atomic_local/repo_2419c45eb/Assets/Material",
+    "pool_sizes": {
+     "ground": 42,
+     "wall": 28,
+     "furniture": 38,
+     "object": 54
+    }
+   },
+   "no_swap": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "reason": "glass",
+     "bound_prims": 1
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "reason": "emissive",
+     "bound_prims": 1
+    }
+   ],
+   "unsupported": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Glass",
+     "mdl": "OmniGlass.mdl",
+     "bound_prims": 1
+    }
+   ]
+  },
+  {
+   "env_ids": [
+    0
+   ],
+   "reset_index": 1,
+   "episode_seed": 2067,
+   "seeds": {
+    "0": 2067
+   },
+   "lights": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
+     "type": "RectLight",
+     "intensity": 9617.527853,
+     "intensity_base": 15000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 4799.98379,
+     "rotate_deg": [
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+      -4.643,
+      0.665
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+   ],
+   "domes": [
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+     "type": "DomeLight",
+     "intensity": 892.466797,
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+      "hdr_base": null,
+      "hdr": "/mnt/scratch/xc536_atomic_local/repo_2419c45eb/Assets/Background/noon_grass_4k.hdr",
+      "color": [
+       0.736525,
+       0.771205,
+       0.7412
+      ]
+     }
+    }
+   ],
+   "materials": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "shader": "omnipbr",
+     "color": [
+      0.954,
+      0.9427,
+      0.703
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+      1.0,
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+     "roughness_base": 0.5,
+     "bound_prims": 1
+    }
+   ],
+   "display_colors": [],
+   "swapped": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/ParquetFloor",
+     "role": "ground",
+     "mdl": "Source/Concrete/Concrete_Wall_Aged.mdl",
+     "material": "/MmbVdrLooks/Source_Concrete_Concrete_Wall_Aged",
+     "bound_prims": 1,
+     "pool_size": 42,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic",
+     "role": "wall",
+     "mdl": "Source/Stone/Granite_Polished.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Granite_Polished",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Concrete/Concrete_Wall_Even.mdl",
+     "material": "/MmbVdrLooks/Source_Concrete_Concrete_Wall_Even",
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+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
+     "role": "wall",
+     "mdl": "Source/Paint/Chalk_Paint.mdl",
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+     "bound_prims": 10,
+     "pool_size": 28,
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+    "protected_material": 0,
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+   "physics_skip": {
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+    "rigid_body": 222,
+    "examples": [
+     [
+      "/World/CubeGrasp/env0/cube_0",
+      "physics_binding"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_0",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/visual_1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/Bodies/go2_FL_calf/go2_FL_calf_geometry/collision_0",
+      "rigid_body"
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+ ]
+}

N009/go2_arm/dr_on/seed_2067/report.json

@@ -0,0 +1,2586 @@
+{
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+     "event": "cloth_probe",
+     "tag": "after_retreat",
+     "top_centroid": [
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+    {
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+     "event": "command_complete"
+    }
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+   "transport_state": "at_B",
+   "transport_history": [
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+    [
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+    [
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+   "station_transition_order": [
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+   "interstation_path_lengths": {
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+   "regrasp_events": 0,
+   "violations": [],
+   "mobile_checks": {
+    "stood_in_A": true,
+    "stood_in_B_after_A": true,
+    "object_lifted_at_A": true,
+    "interstation_path_long_enough": true,
+    "carried_over_the_transit": true,
+    "no_violation": true
+   },
+   "mobile_success": true,
+   "task_id": "N009",
+   "task_version": "EXT60-MobileAvatar-v3",
+   "agent_id": "a02",
+   "family_id": "C5",
+   "primary_category": "cloth_layer_separation",
+   "level": "easy",
+   "embodiment": "go2_arm",
+   "scene_seed": 2067,
+   "execution_mode": "expert_collect",
+   "planner_seeds": "lean",
+   "review_cameras": [],
+   "policy_obs_signature": [
+    "/camera_info[0]/rgb[0]:(480, 640, 4):uint8",
+    "/camera_info[1]/rgb[0]:(480, 640, 4):uint8",
+    "/robot_state[0]/Go2Plus/base_ang_vel:(1, 3):torch.float32",
+    "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32",
+    "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32",
+    "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32",
+    "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32",
+    "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32",
+    "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32",
+    "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32",
+    "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32",
+    "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32",
+    "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32",
+    "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32",
+    "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32"
+   ],
+   "station_layout": {
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+    "stands": {
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+    },
+    "room": [
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+     4.75
+    ]
+   },
+   "manipulation_success": true,
+   "judge": {
+    "ok": true,
+    "reason": "",
+    "numbers": {
+     "bottom_shift_m": 4.4690860007684066e-05,
+     "bottom_max_shift_m": 0.00015746776554223936,
+     "bottom_lift_m": 3.1459171934145047e-09,
+     "top_z_over_table_b": 0.030535481704279666,
+     "top_to_zone_m": 0.04462952877069549,
+     "hand_to_top_m": 0.2575428847067157,
+     "bridge_active": 0.0
+    }
+   },
+   "full_success": true,
+   "failure_reason": null,
+   "fail_class": null,
+   "material_loss_during_transport": 0.0,
+   "grasp_mode": "attach_bridge",
+   "ticks": 2587,
+   "control_steps": 2133,
+   "attach_events": [
+    {
+     "event": "attach",
+     "at_tick": 831,
+     "opening_m": 0.006670727860182524,
+     "nearest_particle_m": 0.00024248607571893032,
+     "bound": true
+    },
+    {
+     "event": "release",
+     "at_tick": 2220
+    }
+   ],
+   "ticks_bound_with_open_pads": 0,
+   "bottom_layer_max_shift_m": 0.00015746776554223936,
+   "bottom_layer_reference": [
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+    -1.7999992405839742,
+    0.5400001364724054
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+   "top_layer_final_centroid": [
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+    0.5400001333264882
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+   "judge_definitions": {
+    "card_bottom_max_shift_m": 0.03,
+    "card_zone_half_width_m": 0.12,
+    "command_min_lift_gain_m": 0.05,
+    "command_min_lift_gain_m_before_n009_p5": 0.1,
+    "command_min_lift_gain_note": "internal progress gate of the Command (mean rise of the top sheet after the lift), not a card threshold: 0.10 m was above lift - hang/2 = 0.08-0.09 m, the most a free-hanging 0.30 m sheet lifted 0.18 m can gain (measured 0.069 / 0.084); lowered to 0.05 m, a test pins it below that ceiling"
+   },
+   "asset_variant": "stock_proxy_two_sheet"
+  }
+ ],
+ "collect": {
+  "task": "N009",
+  "robot": "go2_arm",
+  "visual_dr": true,
+  "env": {
+   "MMB_COLLECT": "1",
+   "MMB_TASK_ID": "N009",
+   "MMB_CLEAN_VIEW": "1",
+   "MMB_REAL_ROBOT_LOOK": "1",
+   "MMB_VISUAL_DR": "1"
+  },
+  "cameras": {
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+    "vertical_aperture": 1.4407838582992554
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+   "wrist": {
+    "link": "Robot_0/Bodies/piper_link6",
+    "pos": [
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+     0.045821
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+    "ori": [
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+    "horizontal_aperture": 1.9199999570846558,
+    "vertical_aperture": 1.4393036365509033
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+  },
+  "resolution": [
+   640,
+   480
+  ],
+  "camera_hz": 25,
+  "record": {
+   "formats": [
+    "lerobot_v21",
+    "sim_info"
+   ],
+   "clear_buffer_on_failure": true,
+   "lerobot": {
+    "subsample_every": 2
+   }
+  }
+ }
+}

N009/go2_arm/dr_on/seed_2067/reports.jsonl

@@ -0,0 +1 @@
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0.0263], "lift_centre_off": [0.0509, 0.0056], "zone": [2.2, 2.0], "top_to_zone": 0.0499}, {"tick": 2148, "event": "stage", "stage": "place", "mode": 4, "goal": [2.1455, 1.8796, 0.777, 0.54, -0.8295, 0.1271, 0.0655]}, {"tick": 2209, "event": "stage_end", "stage": "place", "outcome": "finished", "pos_err_m": 0.004085004845365702, "l6": [2.1456, 1.8792, 0.7811, 0.5399, -0.8295, 0.1272, 0.0655], "arm_q_margin": {"piper_joint1": [0.024, 2.144], "piper_joint2": [2.066, 1.074], "piper_joint3": [-1.791, 1.176], "piper_joint4": [-0.232, 1.513], "piper_joint5": [0.239, 0.981], "piper_joint6": [-1.054, 1.041], "piper_joint7": [0.0, 0.0], "piper_joint8": [-0.0, 0.0]}}, {"tick": 2220, "event": "cloth_probe", "tag": "after_place", "top_centroid": [2.1614, 2.0215, 0.6369], "top_z_min": 0.5399, "pinch": [2.1493, 1.9941, 0.7253], "pinch_quat": [0.5395, -0.8298, 0.1273, 0.0655], "top_minus_pinch_xy": [0.0121, 0.0274], "lift_centre_off": [0.0509, 0.0056], "zone": [2.2, 2.0], "top_to_zone": 0.0442}, {"tick": 2220, "event": "stage", "stage": "release", "hand": "open"}, {"tick": 2220, "event": "release"}, {"tick": 2273, "event": "cloth_probe", "tag": "after_release", "top_centroid": [2.1926, 2.0415, 0.5614], "top_z_min": 0.5399, "pinch": [2.1495, 1.9933, 0.7255], "pinch_quat": [0.5399, -0.8295, 0.1272, 0.0656], "top_minus_pinch_xy": [0.0431, 0.0482], "lift_centre_off": [0.0509, 0.0056], "zone": [2.2, 2.0], "top_to_zone": 0.0422}, {"tick": 2273, "event": "stage", "stage": "retreat", "mode": 4, "goal": [2.1459, 1.8785, 0.8969, 0.5399, -0.8295, 0.1272, 0.0656]}, {"tick": 2334, "event": "stage_end", "stage": "retreat", "outcome": "finished", "pos_err_m": 0.008865993833420474, "l6": [2.1459, 1.8788, 0.888, 0.5398, -0.8295, 0.1274, 0.0655], "arm_q_margin": {"piper_joint1": [0.028, 2.14], "piper_joint2": [2.16, 0.98], "piper_joint3": [-2.383, 0.584], "piper_joint4": [-0.087, 1.658], "piper_joint5": [0.734, 0.486], "piper_joint6": [-1.214, 0.881], "piper_joint7": [0.035, 0.0], "piper_joint8": [-0.035, 0.0]}}, {"tick": 2334, "event": "cloth_probe", "tag": "after_retreat", "top_centroid": [2.1925, 2.0424, 0.5609], "top_z_min": 0.5399, "pinch": [2.1496, 1.9936, 0.8366], "pinch_quat": [0.5398, -0.8295, 0.1274, 0.0655], "top_minus_pinch_xy": [0.043, 0.0488], "lift_centre_off": [0.0509, 0.0056], "zone": [2.2, 2.0], "top_to_zone": 0.043}, {"tick": 2575, "event": "command_complete"}], "transport_state": "at_B", "transport_history": [[1, "at_A"], [888, "carried"], [2244, "at_B"]], "station_transition_order": ["S", "A", "B"], "interstation_path_lengths": {"A->B": 4.3412557993377}, "interstation_net_m": 3.187191778675708, "distance_to_first_interaction": 3.4872602225066305, "final_approach_pose": [2.152480125427246, 1.3096774816513062, 1.5725027850930005], "regrasp_events": 0, "violations": [], "mobile_checks": {"stood_in_A": true, "stood_in_B_after_A": true, "object_lifted_at_A": true, "interstation_path_long_enough": true, "carried_over_the_transit": true, "no_violation": true}, "mobile_success": true, "task_id": "N009", "task_version": "EXT60-MobileAvatar-v3", "agent_id": "a02", "family_id": "C5", "primary_category": "cloth_layer_separation", "level": "easy", "embodiment": "go2_arm", "scene_seed": 2067, "execution_mode": "expert_collect", "planner_seeds": "lean", "review_cameras": [], "policy_obs_signature": ["/camera_info[0]/rgb[0]:(480, 640, 4):uint8", "/camera_info[1]/rgb[0]:(480, 640, 4):uint8", "/robot_state[0]/Go2Plus/base_ang_vel:(1, 3):torch.float32", "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32", "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32", "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32", "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32", "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32", "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32", "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32", "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32", "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32", "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32", "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32", "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32"], "station_layout": {"start": [-3.2, -2.0, 0.0], "stands": {"A": [0.5939999999999999, -1.8, 0.0], "B": [2.2, 1.3940000000000001, 1.5707963267948966]}, "tables": {"A": {"aabb": [0.8999999999999999, -2.25, 1.5, -1.35], "top_z": 0.53}, "B": {"aabb": [1.7500000000000002, 1.7, 2.6500000000000004, 2.3], "top_z": 0.53}}, "room": [-4.4, 4.4, -3.25, 4.75]}, "manipulation_success": true, "judge": {"ok": true, "reason": "", "numbers": {"bottom_shift_m": 4.4690860007684066e-05, "bottom_max_shift_m": 0.00015746776554223936, "bottom_lift_m": 3.1459171934145047e-09, "top_z_over_table_b": 0.030535481704279666, "top_to_zone_m": 0.04462952877069549, "hand_to_top_m": 0.2575428847067157, "bridge_active": 0.0}}, "full_success": true, "failure_reason": null, "fail_class": null, "material_loss_during_transport": 0.0, "grasp_mode": "attach_bridge", "ticks": 2587, "control_steps": 2133, "attach_events": [{"event": "attach", "at_tick": 831, "opening_m": 0.006670727860182524, "nearest_particle_m": 0.00024248607571893032, "bound": true}, {"event": "release", "at_tick": 2220}], "ticks_bound_with_open_pads": 0, "bottom_layer_max_shift_m": 0.00015746776554223936, "bottom_layer_reference": [1.1999999193706474, -1.7999992405839742, 0.5400001364724054], "top_layer_final_centroid": [2.1925856193410653, 2.044009337619859, 0.5605354817042797], "bottom_layer_final_centroid": [1.2000142036844421, -1.7999568940215678, 0.5400001333264882], "judge_definitions": {"card_bottom_max_shift_m": 0.03, "card_zone_half_width_m": 0.12, "command_min_lift_gain_m": 0.05, "command_min_lift_gain_m_before_n009_p5": 0.1, "command_min_lift_gain_note": "internal progress gate of the Command (mean rise of the top sheet after the lift), not a card threshold: 0.10 m was above lift - hang/2 = 0.08-0.09 m, the most a free-hanging 0.30 m sheet lifted 0.18 m can gain (measured 0.069 / 0.084); lowered to 0.05 m, a test pins it below that ceiling"}, "asset_variant": "stock_proxy_two_sheet"}

N009/stretch3/dr_on/seed_2056/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'; expected 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "2259 rows vs ceil(4517/2) = 2259"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 101..4617, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "55.68 MB, 2259 frames at 25 fps, mean luma 77..122, std 18, new picture 2258x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "2259 vs 2259"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "59.54 MB, 2259 frames at 25 fps, mean luma 71..142, std 33, new picture 2258x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "2259 vs 2259"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "record/stationlayer/000/sim_info"
+  }
+ }
+}

N009/stretch3/dr_on/seed_2056/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n009_str_on_2056/out  task=N009  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n009_str_on_2056/out/record/stationlayer/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 2259  videos 2  robot_type HelloRobotCfg
+[PASS] codebase v2.1: v2.1
+[PASS] dataset fps = 25: info.fps 25
+(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only)
+[PASS] parquet episodes: 1 files, info.total_episodes=1
+--- episode file episode_000000.parquet: 2259 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']
+[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'; expected 'Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.'
+rows 2259 at dataset fps 25 = 90.36 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2259 rows vs ceil(4517/2) = 2259
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4617, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 55.68 MB, 2259 frames at 25 fps, mean luma 77..122, std 18, new picture 2258x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 2259 vs 2259
+[PASS] video observation.images.wrist decodes, 640x480, not black: 59.54 MB, 2259 frames at 25 fps, mean luma 71..142, std 33, new picture 2258x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 2259 vs 2259
+parquet size 60.94 MB
+[PASS] sim_info present: record/stationlayer/000/sim_info
+dataset size 178.66 MB; whole cell dir 244.8 MB
+RESULT: ALL PASS

N009/stretch3/dr_on/seed_2056/config.yaml

@@ -0,0 +1,556 @@
+env:
+  sim:
+    device: cpu
+    use_fabric: false
+    decimation: 4
+    dt: 0.005
+    soft_resets: 2
+    scene:
+      num_envs: 1
+      env_spacing: 20
+    render:
+      rendering_mode: performance
+      enable_reflections: false
+      enable_global_illumination: false
+      enable_translucency: false
+      enable_dl_denoiser: false
+    physx:
+      gpu_collision_stack_size: 33554432
+      gpu_heap_capacity: 268435456
+    seed: 2056
+  robot:
+    HelloRobot:
+      name: hellorobot
+      type: mobilemanip
+      common:
+        pos:
+        - - -3.5
+          - -2.3
+          - 0.06
+        - - -2.9000000000000004
+          - -1.7
+          - 0.06
+        ori:
+        - - 0.0
+          - 0.0
+          - -20.0
+        - - 0.0
+          - 0.0
+          - 20.0
+        initial_joint_pos:
+          joint_lift: 0.55
+          joint_arm_l[0-3]: 0.0
+          joint_wrist_yaw: 1.5707963267948966
+      action:
+        base_action: differential_virtual
+        arm_action: ik_abs
+        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: hellorobot
+          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: 1.0
+          seed_use_live_joint_pos: true
+        motiongen:
+          type: hellorobot
+          enable: true
+          motiongen_num_instances: 1
+          batch_size: 1
+          microbatch_wait_ms: 1.0
+          seed_use_live_joint_pos: true
+          mode: position
+          start_state_limit_inset: 0.002
+          num_trajopt_seeds: 1
+          num_ik_seeds: 4
+        body:
+          type: nav
+          dwb_type: dwb_differential
+          p_controller:
+            kp_angular_turning_only: 2.0
+            kd_angular_turning_only: 0.2
+            kp_linear_x: 2.0
+            kp_linear_y: 2.0
+            kp_angular: 2.0
+            kd_linear_x: 0.1
+            kd_linear_y: 0.1
+            min_vel: -0.25
+            max_vel: 0.35
+            linear_dead_zone: 0.003
+            angular_dead_zone: 0.03
+            nav_heading_target: 1
+            velocity_frame: world
+          dwb_differential:
+            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: 8.0
+            w_vel: 0.2
+            w_vy: 0.0
+            goal_cost_mode: path
+            dilate_radius: 0.25
+            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: 0.02
+            goal_yaw_threshold: 0.01
+            kp_goal_yaw: 1.5
+            min_speed: -0.3
+            max_speed: 0.3
+            w_heading: 0.5
+            min_yaw_rate: -0.8
+            max_yaw_rate: 0.8
+            safety_enabled: true
+            safety_deceleration: 0.5
+            safety_reaction_time: 0.5
+            goal_heading_fade_distance: 0.5
+            scan_type: 3d
+        arm:
+          type: default
+        eef:
+          type: default
+      physics:
+        wheel_base: 0.33
+        robot_radius: 0.65
+      reset: default
+  camera:
+    enable_tiled: false
+    colorize_depth: false
+    head:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 2.73834228515625
+        horizontal_aperture: 2.1600000858306885
+        vertical_aperture: 1.62
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/base_link
+        pos:
+        - 0.049771
+        - -0.002942
+        - 1.295723
+        ori:
+        - 0.0002
+        - -55.623
+        - -90.0
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+    wrist:
+      camera:
+        type: camera
+        mesh: pinhole
+        resolution:
+        - 640
+        - 480
+        frequency: 25
+        focal_length: 1.280753493309021
+        horizontal_aperture: 1.9199999570846558
+        vertical_aperture: 1.44
+        clipping_range:
+        - 0.05
+        - 30.0
+        focus_distance: 3.0
+        mode: RGB
+        mount_link: Robot_0/link_gripper_s3_body
+        pos:
+        - 0.009
+        - 0.062939
+        - 0.056398
+        ori:
+        - -170.0021
+        - 0.0
+        - -179.9998
+      annotator:
+        enabled: true
+        rgb_capture:
+          type: rgb
+          device: cpu
+  nav:
+    navmesh:
+      enabled: true
+      visualize: false
+      bake_timeout_s: 180
+      agent_height_cm: 170
+      min_agent_radius_cm: 28.0
+      max_agent_radius_cm: 28.0
+      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: false
+    occupancymap:
+      cell_size: 0.05
+  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
+    objects:
+      table_a:
+        usd:
+        - Cube
+        random: false
+        num_per_env: 1
+        common:
+          pos:
+          - 1.2
+          - -1.8
+          - 0.28
+          ori:
+          - 0
+          - 0
+          - 0
+          scale:
+          - 0.6
+          - 0.9
+          - 0.5
+        table_a_1:
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          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:
+          - 2.2
+          - 2.0
+          - 0.28
+          ori:
+          - 0
+          - 0
+          - 0
+          scale:
+          - 0.9
+          - 0.6
+          - 0.5
+        table_b_1:
+          primitive_params:
+            size:
+            - 1
+            - 1
+            - 1
+          visual:
+            color:
+            - 0.55
+            - 0.42
+            - 0.3
+          physics:
+            type: geometry
+            collision: true
+      layer_bottom:
+        usd:
+        - $MAGICSIM_ASSETS/Object/DeformableProxy/towel_sheet.usd
+        random: false
+        num_per_env: 1
+        common:
+          scale:
+          - 0.8571428571428572
+          - 1.0
+          - 0.5
+        layer_bottom_1:
+          pos:
+          - 1.2
+          - -1.8
+          - 0.536
+          ori:
+          - 90.0
+          - 0.0
+          - 0.0
+          visual:
+            color:
+            - - 0.2
+              - 0.45
+              - 0.85
+          physics:
+            type: garment
+            ratio: 1.0
+            particle_system:
+              particle_system_enabled: true
+              enable_ccd: true
+              solver_position_iteration_count: 32
+              global_self_collision_enabled: true
+              non_particle_collision_enabled: true
+              contact_offset: 0.012
+              rest_offset: 0.01
+              particle_contact_offset: 0.005
+              fluid_rest_offset: 0.0025
+              solid_rest_offset: 0.0025
+              max_velocity: 5.0
+            particle_material:
+              adhesion: 0.1
+              particle_adhesion_scale: 0.2
+              particle_friction_scale: 0.6
+              friction: 1.0
+              damping: 0.05
+              gravity_scale: 1.0
+            garment_config:
+              particle_mass: 0.001
+              self_collision: true
+              self_collision_filter: true
+              stretch_stiffness: 100000000.0
+              bend_stiffness: 5000.0
+              shear_stiffness: 5000.0
+              spring_damping: 10.0
+      layer_top:
+        usd:
+        - $MAGICSIM_ASSETS/Object/DeformableProxy/towel_sheet.usd
+        random: false
+        num_per_env: 1
+        common:
+          scale:
+          - 0.8571428571428572
+          - 1.0
+          - 0.5
+        layer_top_1:
+          pos:
+          - 1.14
+          - -1.8
+          - 0.55
+          ori:
+          - 90.0
+          - 0.0
+          - 0.0
+          visual:
+            color:
+            - - 0.95
+              - 0.55
+              - 0.15
+          physics:
+            type: garment
+            ratio: 1.0
+            particle_system:
+              particle_system_enabled: true
+              enable_ccd: true
+              solver_position_iteration_count: 32
+              global_self_collision_enabled: true
+              non_particle_collision_enabled: true
+              contact_offset: 0.012
+              rest_offset: 0.01
+              particle_contact_offset: 0.005
+              fluid_rest_offset: 0.0025
+              solid_rest_offset: 0.0025
+              max_velocity: 5.0
+            particle_material:
+              adhesion: 0.1
+              particle_adhesion_scale: 0.2
+              particle_friction_scale: 0.6
+              friction: 1.0
+              damping: 0.05
+              gravity_scale: 1.0
+            garment_config:
+              particle_mass: 0.001
+              self_collision: true
+              self_collision_filter: true
+              stretch_stiffness: 100000000.0
+              bend_stiffness: 5000.0
+              shear_stiffness: 5000.0
+              spring_damping: 10.0
+task:
+  observation: {}
+  reward: {}
+  termination:
+    timeout_steps: 16000
+    success_hold_frames: 3
+  station:
+    level: easy
+    agent_id: a02
+    embodiment: stretch3
+    task_version: EXT60-MobileAvatar-v3
+    execution_mode: expert_collect
+    layout:
+      table_h: 0.5
+      standoff: 0.36
+      lateral_a: 0.013
+    settle_ticks: 80
+    hold_ticks: 10
+    judge_timeout_ticks: 300
+    default_avoid: []
+    report_jsonl: /mnt/scratch/xc536_atomic/n009_str_on_2056/out/reports.jsonl
+    carried:
+      type: garment
+      name: layer_top
+      id: 0
+    tracked:
+    - type: garment
+      name: layer_bottom
+      id: 0
+    cloth:
+      category: layer_top
+    layers: {}
+    planner_seeds: lean
+    cloth_variant: null
+    record_scene_streams: true
+collect:
+  global_planner:
+    NavTo:
+      use_navmesh: true
+      use_absolute: true
+      translation_threshold: 0.03
+      rotation_threshold: 0.02
+      num_path_segments: 30
+      start_forward_offset: 0.0
+      visualize_path: false
+      carry_arm: true
+    MobileMoveL:
+      translation_threshold: 0.006
+      rotation_threshold: 0.1
+      motiongen_distance_threshold: 0.0
+      timeout_steps: 1500
+      reactive: false
+      base_pos_threshold: 0.025
+      base_rot_threshold: 0.05
+      eef_pos_threshold: 0.02
+      eef_rot_threshold: 0.25
+      waypoint_max_steps: 60
+      interp_steps: 100
+      debug: false
+      debug_viz: false
+    RetractMoveL:
+      translation_threshold: 0.02
+      rotation_threshold: 0.2
+      motiongen_distance_threshold: 0.05
+      timeout_steps: 1800
+      base_pos_threshold: 0.12
+      base_rot_threshold: 0.5
+      eef_pos_threshold: 0.03
+      eef_rot_threshold: 0.3
+      base_waypoint_max_steps: 20
+      arm_waypoint_max_steps: 8
+      move_strategy_distance_threshold: 0.1
+      debug: false
+      debug_viz: false
+    ParallelGripper:
+      gripper_threshold: 0.0005
+      timeout_steps: 100
+  atomic_skill:
+    StationNav:
+      robot_id: 0
+      show_marker: false
+    NavToPose:
+      robot_id: 0
+      show_marker: false
+    Move:
+      arm_planner: MobileMoveL
+      hand_planner: ParallelGripper
+      obstacle_avoid_paths: []
+      obstacle_ignore_paths: []
+      close_value: 1.0
+      open_value: 0.0
+      hold_steps: 25
+      ramp_steps: 0
+    Grasp:
+      pre_grasp_offset: 0.1
+      retrieval_offset: 0.1
+      mobile: true
+      pre_grasp_planner: MobileMoveL
+      pre_grasp_mode: -1
+      grasp_mode: 4
+      retrieval_mode: 4
+      reactive: false
+      viz_grasp: false
+  auto_collect:
+    max_trajectories: null
+  record:
+    output_dir: /mnt/scratch/xc536_atomic/n009_str_on_2056/out/record
+    formats:
+    - lerobot_v21
+    - sim_info
+    clear_buffer_on_failure: true
+    lerobot:
+      subsample_every: 2
+  command:
+    StationLayer:
+      robot_id: 0
+      init_limit: 100
+      max_attempt: 2
+      completion_timeout_steps: 300
+      direction:
+      - -1.0
+      - 0.0
+      stages:
+        release_height: 0.01
+        settle_ticks: 240
+        offset_follows_hand: true
+        grasp_tilt_deg: 3.0
+env_string: LayerEnv-V0
+visual_dr:
+  keep:
+  - layer_top
+  - layer_bottom

N009/stretch3/dr_on/seed_2056/record/stationlayer/000/completed/0.json

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

N009/stretch3/dr_on/seed_2056/record/stationlayer/000/joint_names.json

@@ -0,0 +1,19 @@
+{
+ "HelloRobot": [
+  "dummy_base_prismatic_x_joint",
+  "dummy_base_prismatic_y_joint",
+  "dummy_base_revolute_z_joint",
+  "joint_lift",
+  "joint_head_pan",
+  "joint_head_tilt",
+  "joint_arm_l3",
+  "joint_arm_l2",
+  "joint_arm_l1",
+  "joint_arm_l0",
+  "joint_wrist_yaw",
+  "joint_wrist_pitch",
+  "joint_wrist_roll",
+  "joint_gripper_finger_left",
+  "joint_gripper_finger_right"
+ ]
+}

N009/stretch3/dr_on/seed_2056/record/stationlayer/000/lerobot_v21/data/chunk-000/episode_000000.parquet

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+version https://git-lfs.github.com/spec/v1
+oid sha256:aaf65687b72d0c7858cfc13f2aec87038c2faea6039a5c8aa257d6ce1b68f893
+size 60944170

N009/stretch3/dr_on/seed_2056/record/stationlayer/000/lerobot_v21/meta/episodes.jsonl

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+{"episode_index": 0, "tasks": ["Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table."], "length": 2259, "magicsim/control_steps": 4517, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the gray table b. There are a large gray table a, a large gray table b, a small gray layer bottom and a small orange layer top. The gray table b is to the left of the gray table a. The gray layer bottom is in front of the orange layer top. The orange layer top is behind the gray layer bottom. The scene is viewed from front-left, slightly above table height."}

N009/stretch3/dr_on/seed_2056/record/stationlayer/000/lerobot_v21/meta/extra/episode_000000.json

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+{
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+ "task_type": "StationLayer",
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+ "language": {
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+     "noun": "table b",
+     "color": "gray",
+     "size": "large",
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+     "category": "geometry",
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+     "category": "garment",
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+     "noun": "layer top",
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+     "relation": "left_of",
+     "object": "table_a_1"
+    },
+    {
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+     "relation": "in_front_of",
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+     "relation": "behind",
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+      "resolution": [
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+      1.7416306448038326,
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+     "viewpoint": "front-left, slightly above table height",
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+     "extrinsics": {
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+   ],
+   "robots": [
+    {
+     "name": "HelloRobot",
+     "model": "hellorobot",
+     "type": "mobilemanip",
+     "noun": "Hello Robot Stretch 3 mobile manipulator",
+     "arms": 1,
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+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
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+     "gripper": "parallel gripper"
+    }
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+   "lighting": [],
+   "background": {
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+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1000.0,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the gray table b. There are a large gray table a, a large gray table b, a small gray layer bottom and a small orange layer top. The gray table b is to the left of the gray table a. The gray layer bottom is in front of the orange layer top. The orange layer top is behind the gray layer bottom. The scene is viewed from front-left, slightly above table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n[table b]\n\n                 [la[layer top]\n\n\n\n\n\n                        [robot]"
+  },
+  "task": {
+   "task_type": "StationLayer",
+   "instruction": "Go to the stack of cloths, lift off only the top cloth without disturbing the one underneath, and carry it to the check area on the other table.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Stationlayer the 1.5707963267948966.",
+   "task_id": "N009",
+   "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
+}

N009/stretch3/dr_on/seed_2056/record/stationlayer/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,259 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 16:55:54"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "HelloRobot",
+                "cfg": "HelloRobotCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "HelloRobot.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HelloRobotBaseAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "HelloRobot.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "arm_action_0",
+                    "arm_action_1",
+                    "arm_action_2",
+                    "arm_action_3",
+                    "arm_action_4",
+                    "arm_action_5",
+                    "arm_action_6"
+                ],
+                "source": "HelloRobotIKAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "HelloRobot.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_pos",
+                "start": 0,
+                "end": 15,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "HelloRobot.joint_vel",
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N009/stretch3/dr_on/seed_2056/record/stationlayer/000/lerobot_v21/meta/tasks.jsonl

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N009/stretch3/dr_on/seed_2056/record/stationlayer/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

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+                "layer_bottom"
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+    "collect_runtime": {
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N009/stretch3/dr_on/seed_2056/record/stationlayer/000/sim_info/0/actions.npz

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N009/stretch3/dr_on/seed_2056/record/stationlayer/000/sim_info/magicsim_manifest.json

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+        "time": "2026-11-08 16:56:15"
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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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+        "run_id": "stationlayer/000",
+        "task_type": "StationLayer"
+    }
+}

N009/stretch3/dr_on/seed_2056/record/stationlayer/000/visual_dr.json

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+}

N009/stretch3/dr_on/seed_2056/report.json

@@ -0,0 +1,3912 @@
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+      ],
+      "top_z": 0.53
+     }
+    },
+    "room": [
+     -4.4,
+     4.4,
+     -3.25,
+     4.75
+    ]
+   },
+   "manipulation_success": true,
+   "judge": {
+    "ok": true,
+    "reason": "",
+    "numbers": {
+     "bottom_shift_m": 0.009185346107873459,
+     "bottom_max_shift_m": 0.009282916182062043,
+     "bottom_lift_m": 8.011602492530301e-09,
+     "top_z_over_table_b": 0.03477095563171784,
+     "top_to_zone_m": 0.05486357060093086,
+     "hand_to_top_m": 0.24407942494932916,
+     "bridge_active": 0.0
+    }
+   },
+   "full_success": true,
+   "failure_reason": null,
+   "fail_class": null,
+   "material_loss_during_transport": 0.0,
+   "grasp_mode": "attach_bridge",
+   "ticks": 4617,
+   "control_steps": 4163,
+   "attach_events": [
+    {
+     "event": "attach",
+     "at_tick": 1523,
+     "opening_m": 0.001312820939347148,
+     "nearest_particle_m": 0.0019034303909619907,
+     "bound": true
+    },
+    {
+     "event": "release",
+     "at_tick": 4196
+    }
+   ],
+   "ticks_bound_with_open_pads": 0,
+   "bottom_layer_max_shift_m": 0.009282916182062043,
+   "bottom_layer_reference": [
+    1.2000013217465737,
+    -1.8000008002038912,
+    0.5400001438548244
+   ],
+   "top_layer_final_centroid": [
+    2.1719468188683346,
+    1.952850976601023,
+    0.5647709556317179
+   ],
+   "bottom_layer_final_centroid": [
+    1.1908196189859603,
+    -1.8002594844461075,
+    0.5400001358432219
+   ],
+   "judge_definitions": {
+    "card_bottom_max_shift_m": 0.03,
+    "card_zone_half_width_m": 0.12,
+    "command_min_lift_gain_m": 0.05,
+    "command_min_lift_gain_m_before_n009_p5": 0.1,
+    "command_min_lift_gain_note": "internal progress gate of the Command (mean rise of the top sheet after the lift), not a card threshold: 0.10 m was above lift - hang/2 = 0.08-0.09 m, the most a free-hanging 0.30 m sheet lifted 0.18 m can gain (measured 0.069 / 0.084); lowered to 0.05 m, a test pins it below that ceiling"
+   },
+   "asset_variant": "stock_proxy_two_sheet"
+  }
+ ],
+ "collect": {
+  "task": "N009",
+  "robot": "stretch3",
+  "visual_dr": true,
+  "env": {
+   "MMB_COLLECT": "1",
+   "MMB_TASK_ID": "N009",
+   "MMB_CLEAN_VIEW": "1",
+   "MMB_REAL_ROBOT_LOOK": "1",
+   "MMB_VISUAL_DR": "1"
+  },
+  "cameras": {
+   "head": {
+    "link": "Robot_0/base_link",
+    "pos": [
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+     -0.002942,
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+    "ori": [
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+    "focal_length": 2.73834228515625,
+    "horizontal_aperture": 2.1600000858306885,
+    "vertical_aperture": 1.62
+   },
+   "wrist": {
+    "link": "Robot_0/link_gripper_s3_body",
+    "pos": [
+     0.009,
+     0.062939,
+     0.056398
+    ],
+    "ori": [
+     -170.0021,
+     0.0,
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+    "focal_length": 1.280753493309021,
+    "horizontal_aperture": 1.9199999570846558,
+    "vertical_aperture": 1.44
+   }
+  },
+  "resolution": [
+   640,
+   480
+  ],
+  "camera_hz": 25,
+  "record": {
+   "formats": [
+    "lerobot_v21",
+    "sim_info"
+   ],
+   "clear_buffer_on_failure": true,
+   "lerobot": {
+    "subsample_every": 2
+   }
+  }
+ }
+}

N009/stretch3/dr_on/seed_2056/reports.jsonl

@@ -0,0 +1 @@
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"/robot_state[0]/HelloRobot/eef_pos:(1, 3):torch.float32", "/robot_state[0]/HelloRobot/eef_quat:(1, 4):torch.float32", "/robot_state[0]/HelloRobot/eef_relative_pos:(1, 3):torch.float32", "/robot_state[0]/HelloRobot/eef_relative_quat:(1, 4):torch.float32", "/robot_state[0]/HelloRobot/joint_effort:(1, 15):torch.float32", "/robot_state[0]/HelloRobot/joint_pos:(1, 15):torch.float32", "/robot_state[0]/HelloRobot/joint_vel:(1, 15):torch.float32"], "station_layout": {"start": [-3.2, -2.0, 0.0], "stands": {"A": [0.5399999999999999, -1.7670000000000001, 1.5707963267948966], "B": [2.18, 1.3400000000000003, 3.141592653589793]}, "tables": {"A": {"aabb": [0.8999999999999999, -2.25, 1.5, -1.35], "top_z": 0.53}, "B": {"aabb": [1.7500000000000002, 1.7, 2.6500000000000004, 2.3], "top_z": 0.53}}, "room": [-4.4, 4.4, -3.25, 4.75]}, "manipulation_success": true, "judge": {"ok": true, "reason": "", "numbers": {"bottom_shift_m": 0.009185346107873459, "bottom_max_shift_m": 0.009282916182062043, "bottom_lift_m": 8.011602492530301e-09, "top_z_over_table_b": 0.03477095563171784, "top_to_zone_m": 0.05486357060093086, "hand_to_top_m": 0.24407942494932916, "bridge_active": 0.0}}, "full_success": true, "failure_reason": null, "fail_class": null, "material_loss_during_transport": 0.0, "grasp_mode": "attach_bridge", "ticks": 4617, "control_steps": 4163, "attach_events": [{"event": "attach", "at_tick": 1523, "opening_m": 0.001312820939347148, "nearest_particle_m": 0.0019034303909619907, "bound": true}, {"event": "release", "at_tick": 4196}], "ticks_bound_with_open_pads": 0, "bottom_layer_max_shift_m": 0.009282916182062043, "bottom_layer_reference": [1.2000013217465737, -1.8000008002038912, 0.5400001438548244], "top_layer_final_centroid": [2.1719468188683346, 1.952850976601023, 0.5647709556317179], "bottom_layer_final_centroid": [1.1908196189859603, -1.8002594844461075, 0.5400001358432219], "judge_definitions": {"card_bottom_max_shift_m": 0.03, "card_zone_half_width_m": 0.12, "command_min_lift_gain_m": 0.05, "command_min_lift_gain_m_before_n009_p5": 0.1, "command_min_lift_gain_note": "internal progress gate of the Command (mean rise of the top sheet after the lift), not a card threshold: 0.10 m was above lift - hang/2 = 0.08-0.09 m, the most a free-hanging 0.30 m sheet lifted 0.18 m can gain (measured 0.069 / 0.084); lowered to 0.05 m, a test pins it below that ceiling"}, "asset_variant": "stock_proxy_two_sheet"}