add N029/sawyer_umi/dr_off/seed_1030

N029/sawyer_umi/dr_off/seed_1030/data/check.json

@@ -0,0 +1,69 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the tool rack, pick up the pry bar, carry it to the plate, rest the bar on the fulcrum, and press down to lift the edge of the plate.'; expected 'Go to the tool rack, pick up the pry bar, carry it to the plate, rest the bar on the fulcrum, and press down to lift the edge of the plate.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "2471 rows vs ceil(4941/2) = 2471"
+  },
+  "episode length covered up to the lead-in": {
+   "pass": true,
+   "detail": "last row sim_step_idx 5001 vs last control tick 5000"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 61..5001, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "29.84 MB, 2471 frames at 25 fps, mean luma 101..147, std 31, new picture 2470x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "2471 vs 2471"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "45.63 MB, 2471 frames at 25 fps, mean luma 107..144, std 20, new picture 2470x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "2471 vs 2471"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "mobiletooltask/000/sim_info"
+  },
+  "robot look: collect run set MMB_REAL_ROBOT_LOOK=1 before the robot modules": {
+   "pass": true,
+   "detail": "collect.env.MMB_REAL_ROBOT_LOOK = '1' (robot sawyer_umi)"
+  },
+  "robot look: sawyer_umi spawned from the real-look USD (ridgeback_sawyer_umi.usd)": {
+   "pass": true,
+   "detail": "run log [RobotUSD]: ridgeback_sawyer_umi.usd"
+  }
+ }
+}

N029/sawyer_umi/dr_off/seed_1030/data/check.txt

@@ -0,0 +1,25 @@
+collect dataset check  cell=/mnt/scratch/sz850_atomic/n029_saw_off_1030/out/data  task=N029  at verify_collect_dataset.py
+dataset root /mnt/scratch/sz850_atomic/n029_saw_off_1030/out/data/mobiletooltask/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 2471  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: 2471 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']
+[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the tool rack, pick up the pry bar, carry it to the plate, rest the bar on the fulcrum, and press down to lift the edge of the plate.'; expected 'Go to the tool rack, pick up the pry bar, carry it to the plate, rest the bar on the fulcrum, and press down to lift the edge of the plate.'
+rows 2471 at dataset fps 25 = 98.84 s; episode_time_s in the report 100.02 -> 2500 frames at 25 Hz
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2471 rows vs ceil(4941/2) = 2471
+episode_time_s 100.02 s = 5001 control ticks; first recorded tick 61 -> 60 unrecorded lead-in ticks (reset/settle, same for sim_info)
+[PASS] episode length covered up to the lead-in: last row sim_step_idx 5001 vs last control tick 5000
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..5001, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 29.84 MB, 2471 frames at 25 fps, mean luma 101..147, std 31, new picture 2470x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 2471 vs 2471
+[PASS] video observation.images.wrist decodes, 640x480, not black: 45.63 MB, 2471 frames at 25 fps, mean luma 107..144, std 20, new picture 2470x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 2471 vs 2471
+parquet size 1.78 MB
+[PASS] sim_info present: mobiletooltask/000/sim_info
+[PASS] robot look: collect run set MMB_REAL_ROBOT_LOOK=1 before the robot modules: collect.env.MMB_REAL_ROBOT_LOOK = '1' (robot sawyer_umi)
+[PASS] robot look: sawyer_umi spawned from the real-look USD (ridgeback_sawyer_umi.usd): run log [RobotUSD]: ridgeback_sawyer_umi.usd
+dataset size 77.31 MB; whole cell dir 78.5 MB
+RESULT: ALL PASS

N029/sawyer_umi/dr_off/seed_1030/data/mobiletooltask/000/completed/0.json

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

N029/sawyer_umi/dr_off/seed_1030/data/mobiletooltask/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec89eb3db047536bf9a2a701c59e126325171950b1940278d815fee59d2f460f
+size 1778011

N029/sawyer_umi/dr_off/seed_1030/data/mobiletooltask/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the tool rack, pick up the pry bar, carry it to the plate, rest the bar on the fulcrum, and press down to lift the edge of the plate."], "length": 2471, "magicsim/control_steps": 4941, "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 gray saddle front saddle base. There are a large gray table a, a large gray table b, a large gray saddle rear saddle base, a large gray saddle front saddle base, a small prybar, a large red fulcrum, a large gray back wall, a large gray ledge l, a large gray rail l, a large gray ledge r, a large gray rail r and a small plate. The gray table a is to the right of the gray saddle front saddle base. The gray saddle rear saddle base is to the left of the prybar. The prybar is on top of the gray saddle front saddle base. The red fulcrum is to the right of the plate. The gray back wall is to the left of the plate. The scene is viewed from front, at table height."}

N029/sawyer_umi/dr_off/seed_1030/data/mobiletooltask/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
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N029/sawyer_umi/dr_off/seed_1030/data/mobiletooltask/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,544 @@
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+     "object": "saddle_front_saddle_base_1"
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+   "robots": [
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+     "name": "RidgebackSawyerUmi",
+     "model": "ridgebacksawyer_umi",
+     "type": "mobilemanip",
+     "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
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+      "ori": [
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+     "facing_yaw_deg": 51.596884530307754,
+     "gripper": "parallel gripper"
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+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1000.0,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the gray saddle front saddle base. There are a large gray table a, a large gray table b, a large gray saddle rear saddle base, a large gray saddle front saddle base, a small prybar, a large red fulcrum, a large gray back wall, a large gray ledge l, a large gray rail l, a large gray ledge r, a large gray rail r and a small plate. The gray table a is to the right of the gray saddle front saddle base. The gray saddle rear saddle base is to the left of the prybar. The prybar is on top of the gray saddle front saddle base. The red fulcrum is to the right of the plate. The gray back wall is to the left of the plate. The scene is viewed from front, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                    [b[[[plate]\n\n\n     [saddle front[prybar]base]\n\n\n\n\n[robot]"
+  },
+  "task": {
+   "task_type": "MobileToolTask",
+   "instruction": "Go to the tool rack, pick up the pry bar, carry it to the plate, rest the bar on the fulcrum, and press down to lift the edge of the plate.",
+   "template_id": -1,
+   "slots": {
+    "obj": null,
+    "support": null
+   },
+   "generic_instruction": "Mobiletooltask the object.",
+   "task_id": "N029",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {}
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
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+ "truncated": false
+}

N029/sawyer_umi/dr_off/seed_1030/data/mobiletooltask/000/lerobot_v21/meta/info.json

@@ -0,0 +1,334 @@
+{
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+}

N029/sawyer_umi/dr_off/seed_1030/data/mobiletooltask/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,264 @@
+{
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N029/sawyer_umi/dr_off/seed_1030/data/mobiletooltask/000/lerobot_v21/meta/stats.json

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+}

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N029/sawyer_umi/dr_off/seed_1030/data/mobiletooltask/000/sim_info/magicsim_manifest.json

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+{
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+    "generated": {
+        "time": "2026-11-13 16:31:40"
+    },
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+                "cfg": "RidgebackSawyerUmiCfg",
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+                    "dummy_base_prismatic_x_joint",
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+                    "dummy_base_revolute_z_joint",
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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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+        "task_type": "MobileToolTask"
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+}