add N026/sawyer_umi/dr_on/seed_2053

N026/sawyer_umi/dr_on/seed_2053/data/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square.'; expected 'Go to the tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "3129 rows vs ceil(6257/2) = 3129"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 61..6317, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "82.00 MB, 3129 frames at 25 fps, mean luma 67..138, std 39, new picture 3128x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "3129 vs 3129"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "63.54 MB, 3129 frames at 25 fps, mean luma 84..147, std 32, new picture 3128x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "3129 vs 3129"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "mobiletooltask/000/sim_info"
+  }
+ }
+}

N026/sawyer_umi/dr_on/seed_2053/data/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n026_saw_on_2053/out/data  task=N026  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n026_saw_on_2053/out/data/mobiletooltask/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 3129  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: 3129 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 hook, carry it to the channel, and use the hook to pull the ring out onto the marked square.'; expected 'Go to the tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square.'
+rows 3129 at dataset fps 25 = 125.16 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3129 rows vs ceil(6257/2) = 3129
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6317, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 82.00 MB, 3129 frames at 25 fps, mean luma 67..138, std 39, new picture 3128x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 3129 vs 3129
+[PASS] video observation.images.wrist decodes, 640x480, not black: 63.54 MB, 3129 frames at 25 fps, mean luma 84..147, std 32, new picture 3128x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 3129 vs 3129
+parquet size 2.27 MB
+[PASS] sim_info present: mobiletooltask/000/sim_info
+dataset size 147.87 MB; whole cell dir 149.3 MB
+RESULT: ALL PASS

N026/sawyer_umi/dr_on/seed_2053/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}

N026/sawyer_umi/dr_on/seed_2053/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:f2bb8f9ba061e236bc8e8b6c2e09eebaaa8540ebb4ae42a17637b8f0353b1f50
+size 2266210

N026/sawyer_umi/dr_on/seed_2053/data/mobiletooltask/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square."], "length": 3129, "magicsim/control_steps": 6257, "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 hook, a large white channel floor, a large gray rail l, a large gray rail r, a large gray end wall, a large green marker and a small ring. 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 hook. The hook is on top of the gray saddle front saddle base. The white channel floor is behind the ring. The gray rail l is to the left of the white channel floor. The gray rail r is to the right of the white channel floor. The gray end wall is to the left of the ring. The green marker is to the right of the white channel floor. The ring is in front of the white channel floor. The scene is viewed from front-right, at table height."}

N026/sawyer_umi/dr_on/seed_2053/data/mobiletooltask/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "stats": {"action": {"mean": [0.057316097684178384, 0.0009892638548006166, 0.004222573107677714, 1.024617829290717, 0.7734294401624021, 0.7576874762002025, -0.2896247459328491, 0.394949130287716, 0.19067955934731687, -0.22678601976458948, 0.6804090763822307], "std": [0.10407779283987156, 0.012240277738838493, 0.14720884189482442, 1.6136735859496765, 0.7239287018362724, 0.2272341391879219, 0.5194092532765318, 0.46954017495265593, 0.2914057085373705, 0.31172244189988974, 0.4663180943936429], "min": [0.0, -0.18992747366428375, -0.800000011920929, -3.1569972038269043, -1.5973650217056274, 0.584129810333252, -0.7075391411781311, -0.7071068286895752, -0.5234546065330505, -0.712445080280304, 0.0], "max": [0.30000001192092896, 0.07359349727630615, 0.800000011920929, 3.120675563812256, 1.5648473501205444, 1.3033589124679565, 0.7071068286895752, 0.708848774433136, 0.5254806280136108, 0.4753533601760864, 1.0], "count": [3129]}, "action_is_hold": {"mean": [0.008948545861297539, 0.008948545861297539, 0.008948545861297539, 0.028124001278363696, 0.028124001278363696, 0.028124001278363696, 0.028124001278363696, 0.028124001278363696, 0.028124001278363696, 0.028124001278363696, 0.9808245445829339], "std": [0.0941725511402691, 0.0941725511402691, 0.0941725511402691, 0.16532707530970925, 0.16532707530970925, 0.16532707530970925, 0.16532707530970925, 0.16532707530970925, 0.16532707530970925, 0.16532707530970925, 0.13714137715005167], "min": [0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "max": [1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0], "count": [3129]}, "observation.state": {"mean": [0.9703607124884542, -4.107394303403826, 0.7188254698810962, -0.07172648396015288, 3.0585194014623526e-07, -1.4048104121133367, -0.25591344936335614, 1.9330053759691777, -0.49868498092434443, -0.30272458977593997, 1.6472348608856981, 0.011698988883224806, -0.013880966309975562, -0.013880966309975562, -0.011698988883224806], "std": [1.378184293563627, 1.2903202742592987, 0.6893174312599446, 0.48226197863174436, 2.3354809286203448e-05, 0.45970851221039294, 0.45743150167482505, 0.6321183110579611, 0.30871727076179706, 1.3941133132212125, 0.738988852741475, 0.0061676598327248785, 0.006101202065287974, 0.006101202065287974, 0.0061676598327248785], "min": [-3.314697504043579, -5.523874282836914, -0.22136467695236206, -1.0560284852981567, -0.00043013872345909476, -2.1285626888275146, -0.9818180203437805, 0.497035413980484, -1.2737622261047363, -1.9018328189849854, -0.00012037622946081683, 0.0, -0.020833000540733337, -0.020833000540733337, -0.020833000540733337], "max": [2.2822935581207275, -2.1356804370880127, 1.5118733644485474, 0.713644802570343, 0.0003034723049495369, -0.21914401650428772, 0.33917275071144104, 2.7577579021453857, 0.15460342168807983, 2.7007172107696533, 2.958759307861328, 0.020833000540733337, 0.0, 0.0, -0.0], "count": [3129]}, "observation.joint_vel": {"mean": [0.044673734484881544, -0.02712352485196811, 0.003998202105313951, -0.008440053834437963, -3.0661760708573624e-05, 0.010759815915729928, 0.002869312305119809, 0.017783479493529177, -0.005712425248521452, -0.03774465326870711, 0.005871761156095824, 0.030120696414332546, -0.021483538894375567], "std": [0.08988499138920493, 0.05876548168463721, 0.14789160127457157, 0.07511961210216624, 0.0006606680390904056, 0.06023394479062776, 0.0645488668467403, 0.056714474580075246, 0.0810556143174072, 0.10595947720109006, 0.1093118804921768, 0.03009266067972133, 0.024313721816799864], "min": [-0.0003624947858043015, -0.24818547070026398, -0.800046980381012, -0.18250450491905212, -0.009743046946823597, -0.13573303818702698, -0.1894841343164444, -0.09663877636194229, -0.32302796840667725, -0.32108360528945923, -0.37526819109916687, -0.09999989718198776, -0.10008157789707184], "max": [0.30603325366973877, 0.01779218390583992, 0.8000169992446899, 0.25870195031166077, 0.02133202739059925, 0.1430632472038269, 0.188312828540802, 0.19547757506370544, 0.3200828433036804, 0.20535358786582947, 0.41142070293426514, 0.10001105070114136, 0.10000007599592209], "count": [3129]}, "observation.eef_pose": {"mean": [1.0331257263686033, 0.7671739684005461, 0.7876705234901865, -0.48144331896905607, 0.6038121240765342, 0.21589123200388258, -0.3086115218085914], "std": [1.605208781769988, 0.7183700703661513, 0.23300895355907647, 0.3141263564094646, 0.1005025279867557, 0.28720365347530735, 0.26553905792162985], "min": [-3.1569972038269043, -1.5980844497680664, 0.5840325355529785, -0.7102408409118652, 0.4694751501083374, -0.46579769253730774, -0.7158715128898621], "max": [3.1205649375915527, 1.5643020868301392, 1.3057526350021362, 0.39470458030700684, 0.7149884104728699, 0.53485506772995, 0.10221794992685318], "count": [3129]}, "observation.environment_state": {"mean": [2.6151423302653805, 1.993014759893957, 0.5319901457721335, 2.5999999046325684, 1.9299999475479126, 0.531000018119812, 0.7071067690849304, 0.0, 0.0, 0.7071067690849304, 2.5999999046325684, 2.119999885559082, 0.5375000238418579, 0.7071067690849304, 0.0, 0.0, 0.7071067690849304, 1.3666068459265324, 0.9217971077206113, 0.6680365958203138, 0.8809814835250016, 0.004302072077931138, -0.003095875786149645, 0.2834885741357428, 2.5999999046325684, 1.6749999523162842, 0.531499981880188, 0.7071067690849304, 0.0, 0.0, 0.7071067690849304, 2.507499933242798, 1.9299999475479126, 0.5375000238418579, 0.7071067690849304, 0.0, 0.0, 0.7071067690849304, 2.692500114440918, 1.9299999475479126, 0.5375000238418579, 0.7071067690849304, 0.0, 0.0, 0.7071067690849304, 2.6151423302653805, 1.993014759893957, 0.5319901457721335, 0.7068780929412123, 0.00016165260042638, -0.00016290656813277722, 0.7073307049925924, 0.20000000298023224, 0.20000000298023224, 0.5659999847412109, 1.0, 0.0, 0.0, 0.0, 0.05999999865889549, 0.20000000298023224, 0.5659999847412109, 1.0, 0.0, 0.0, 0.0, 0.2750000059604645, 0.20000000298023224, 0.2800000011920929, 1.0, 0.0, 0.0, 0.0, 2.5999999046325684, 2.0, 0.2800000011920929, 0.7071067690849304, 0.0, 0.0, 0.7071067690849304], "std": [0.0017149373709592483, 0.0571644353752947, 8.457941936135335e-05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 1.2440700393818007, 0.7122428838604092, 0.08317176810616657, 0.140374790236537, 0.018921832325121703, 0.017088459467869858, 0.350888342644836, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0017149373709592483, 0.0571644353752947, 8.457941936135335e-05, 0.0013615520690560138, 0.0012005633931989595, 0.0012253312672860929, 0.0013330469707321028, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0], "min": [2.604483127593994, 1.7034437656402588, 0.5310869812965393, 2.5999999046325684, 1.9299999475479126, 0.531000018119812, 0.7071067690849304, 0.0, 0.0, 0.7071067690849304, 2.5999999046325684, 2.119999885559082, 0.5375000238418579, 0.7071067690849304, 0.0, 0.0, 0.7071067690849304, -0.22769074141979218, 0.1845293641090393, 0.5956487655639648, 0.6719111204147339, -0.08691241592168808, -0.03140444681048393, -0.1428997665643692, 2.5999999046325684, 1.6749999523162842, 0.531499981880188, 0.7071067690849304, 0.0, 0.0, 0.7071067690849304, 2.507499933242798, 1.9299999475479126, 0.5375000238418579, 0.7071067690849304, 0.0, 0.0, 0.7071067690849304, 2.692500114440918, 1.9299999475479126, 0.5375000238418579, 0.7071067690849304, 0.0, 0.0, 0.7071067690849304, 2.604483127593994, 1.7034437656402588, 0.5310869812965393, 0.6940097808837891, -0.0011137122055515647, -0.012126515619456768, 0.7053437829017639, 0.20000000298023224, 0.20000000298023224, 0.5659999847412109, 1.0, 0.0, 0.0, 0.0, 0.05999999865889549, 0.20000000298023224, 0.5659999847412109, 1.0, 0.0, 0.0, 0.0, 0.2750000059604645, 0.20000000298023224, 0.2800000011920929, 1.0, 0.0, 0.0, 0.0, 2.5999999046325684, 2.0, 0.2800000011920929, 0.7071067690849304, 0.0, 0.0, 0.7071067690849304], "max": [2.6221868991851807, 2.009999990463257, 0.5327091813087463, 2.5999999046325684, 1.9299999475479126, 0.531000018119812, 0.7071067690849304, 0.0, 0.0, 0.7071067690849304, 2.5999999046325684, 2.119999885559082, 0.5375000238418579, 0.7071067690849304, 0.0, 0.0, 0.7071067690849304, 3.366684675216675, 1.810755968093872, 0.8123849630355835, 1.0, 0.02435333840548992, 0.09000176936388016, 0.7383512854576111, 2.5999999046325684, 1.6749999523162842, 0.531499981880188, 0.7071067690849304, 0.0, 0.0, 0.7071067690849304, 2.507499933242798, 1.9299999475479126, 0.5375000238418579, 0.7071067690849304, 0.0, 0.0, 0.7071067690849304, 2.692500114440918, 1.9299999475479126, 0.5375000238418579, 0.7071067690849304, 0.0, 0.0, 0.7071067690849304, 2.6221868991851807, 2.009999990463257, 0.5327091813087463, 0.7088652849197388, 0.012030852027237415, 0.005014691036194563, 0.7198988199234009, 0.20000000298023224, 0.20000000298023224, 0.5659999847412109, 1.0, 0.0, 0.0, 0.0, 0.05999999865889549, 0.20000000298023224, 0.5659999847412109, 1.0, 0.0, 0.0, 0.0, 0.2750000059604645, 0.20000000298023224, 0.2800000011920929, 1.0, 0.0, 0.0, 0.0, 2.5999999046325684, 2.0, 0.2800000011920929, 0.7071067690849304, 0.0, 0.0, 0.7071067690849304], "count": [3129]}, "action.command": {"mean": [-1.825543544260063, -0.7137734721042022, 0.9667701799667741, 0.0, 0.0, 0.0, 0.0, -0.055902663597500825, 1.060269128162486, 0.7879338627463695, 0.7531197502282998, -0.2874103617272225, 0.3861069353404542, 0.19515205104318167, -0.22444608444352152, 0.5], "std": [1.1770772303288888, 1.1239183168937898, 0.7641691625108454, 0.0, 0.0, 0.0, 0.0, 1.3931877937324988, 1.6228159826649975, 0.7290808630858693, 0.22153963822404366, 0.5224865116091145, 0.4733563115567641, 0.2943020092272482, 0.31013600414231646, 0.5], "min": [-3.314694404602051, -2.135671615600586, 0.0, 0.0, 0.0, 0.0, 0.0, -1.0, -3.1569972038269043, -1.5973650217056274, 0.584129810333252, -0.7075391411781311, -0.7071068286895752, -0.5234546065330505, -0.7123669981956482, 0.0], "max": [-0.8951402902603149, 0.17461110651493073, 1.5707963705062866, 0.0, 0.0, 0.0, 0.0, 2.0, 3.120675563812256, 1.5648473501205444, 1.3033589124679565, 0.7071068286895752, 0.708848774433136, 0.5254806280136108, 0.4753533601760864, 1.0], "count": [3129]}, "action.applied": {"mean": [0.057316097684178384, 0.0009892638548006166, 0.004222573107677714, -0.07230012078472962, -1.404454753583862, -0.25559408993219584, 1.9338236982333237, -0.499192377238589, -0.30540703590655716, 1.6476551072397019, -0.0025962106687081967, 0.0025962106687081967], "std": [0.10407779283987156, 0.012240277738838493, 0.14720884189482442, 0.48281006931058246, 0.4604752196684681, 0.4575513178205787, 0.6314264438409622, 0.30881459900657215, 1.392937717970873, 0.7383433575649931, 0.012205054686020008, 0.012205054686020008], "min": [0.0, -0.18992747366428375, -0.800000011920929, -1.0620540380477905, -2.1278655529022217, -0.9781221151351929, 0.4984668493270874, -1.274076223373413, -1.9021941423416138, -0.000140256219310686, -0.009999999776482582, -0.020833000540733337], "max": [0.30000001192092896, 0.07359349727630615, 0.800000011920929, 0.7138027548789978, -0.2105511724948883, 0.34044620394706726, 2.7581887245178223, 0.15470664203166962, 2.7003509998321533, 2.9594504833221436, 0.020833000540733337, 0.009999999776482582], "count": [3129]}, "extra.reward": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [3129]}, "next.truncated": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [3129]}, "sim_step_idx": {"mean": [3189.0], "std": [1806.5289000363837], "min": [61.0], "max": [6317.0], "count": [3129]}, "timestamp": {"mean": [62.5600000017508], "std": [36.130578000580336], "min": [0.0], "max": [125.12000274658203], "count": [3129]}, "frame_index": {"mean": [1564.0], "std": [903.2644500181918], "min": [0.0], "max": [3128.0], "count": [3129]}, "episode_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [3129]}, "index": {"mean": [1564.0], "std": [903.2644500181918], "min": [0.0], "max": [3128.0], "count": [3129]}, "task_index": {"mean": [0.0], "std": [0.0], "min": [0.0], "max": [0.0], "count": [3129]}, "next.done": {"mean": [0.00031959092361776926], "std": [0.017874249222255754], "min": [0.0], "max": [1.0], "count": [3129]}, "observation.images.head": {"mean": [[[0.4650312620054753]], [[0.38616755337780323]], [[0.3655883730567575]]], "std": [[[0.1844564145250463]], [[0.20112230008659046]], [[0.19640722851790704]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9647058823529412]], [[0.9647058823529412]], [[0.9686274509803922]]], "count": [100]}, "observation.images.wrist": {"mean": [[[0.4506231856685155]], [[0.3912258648879808]], [[0.32913018396681887]]], "std": [[[0.16354615367423245]], [[0.15087974035216628]], [[0.1555777262683553]]], "min": [[[0.0]], [[0.0]], [[0.0]]], "max": [[[0.9607843137254902]], [[0.9490196078431372]], [[0.9529411764705882]]], "count": [100]}}}

N026/sawyer_umi/dr_on/seed_2053/data/mobiletooltask/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,537 @@
+{
+ "episode_index": 0,
+ "trajectory_id": 0,
+ "env_id": 0,
+ "task_type": "MobileToolTask",
+ "subsample_every": 2,
+ "control_steps": 6257,
+ "language": {
+  "scene": {
+   "objects": [
+    {
+     "id": "table_a_1",
+     "cat_name": "table_a",
+     "inst_id": 1,
+     "noun": "table a",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      3.9127426024414853,
+      -1.7405748196485988,
+      0.22000003320118505
+     ],
+     "bbox": {
+      "extent": [
+       0.9999999999999999,
+       1.0,
+       1.0
+      ],
+      "center": [
+       -5.551115123125783e-17,
+       0.0,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "table_b_1",
+     "cat_name": "table_b",
+     "inst_id": 1,
+     "noun": "table b",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      6.688081980086758,
+      -2.711716590396593,
+      0.2200000550882911
+     ],
+     "bbox": {
+      "extent": [
+       1.000000059899946,
+       1.0000000782366698,
+       1.0
+      ],
+      "center": [
+       -2.220446049250313e-16,
+       3.3306690738754696e-16,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "saddle_rear_saddle_base_1",
+     "cat_name": "saddle_rear_saddle_base",
+     "inst_id": 1,
+     "noun": "saddle rear saddle base",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      3.7957480610448746,
+      -1.5601938970802869,
+      0.5060000333004878
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0,
+       1.0
+      ],
+      "center": [
+       0.0,
+       0.0,
+       8.881784197001252e-16
+      ]
+     }
+    },
+    {
+     "id": "saddle_front_saddle_base_1",
+     "cat_name": "saddle_front_saddle_base",
+     "inst_id": 1,
+     "noun": "saddle front saddle base",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      3.87193055117081,
+      -1.6776512433733637,
+      0.5060000332358254
+     ],
+     "bbox": {
+      "extent": [
+       1.0,
+       1.0,
+       1.0
+      ],
+      "center": [
+       8.881784197001252e-16,
+       0.0,
+       8.881784197001252e-16
+      ]
+     }
+    },
+    {
+     "id": "hook_1",
+     "cat_name": "hook",
+     "inst_id": 1,
+     "noun": "hook",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "rigid",
+     "pos": [
+      3.844722524235598,
+      -1.6357021948492847,
+      0.5530000089402242
+     ],
+     "bbox": {
+      "extent": [
+       0.3310003401363071,
+       0.022000346012664884,
+       0.08600016125118648
+      ],
+      "center": [
+       0.016493853512940998,
+       -5.7457465087867865e-08,
+       -0.03199999919420371
+      ]
+     }
+    },
+    {
+     "id": "channel_floor_1",
+     "cat_name": "channel_floor",
+     "inst_id": 1,
+     "noun": "channel floor",
+     "color": "white",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      6.629353304317072,
+      -2.749807837299106,
+      0.47100005419536467
+     ],
+     "bbox": {
+      "extent": [
+       1.0000000304253698,
+       1.0000001540284493,
+       1.0
+      ],
+      "center": [
+       4.440892098500626e-16,
+       6.661338147750939e-16,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "rail_l_1",
+     "cat_name": "rail_l",
+     "inst_id": 1,
+     "noun": "rail l",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      6.579018444701649,
+      -2.672202090688819,
+      0.477500054238088
+     ],
+     "bbox": {
+      "extent": [
+       1.0000000047539652,
+       1.0000009857820196,
+       1.0
+      ],
+      "center": [
+       4.440892098500626e-16,
+       -1.0547118733938987e-15,
+       -7.105427357601002e-15
+      ]
+     }
+    },
+    {
+     "id": "rail_r_1",
+     "cat_name": "rail_r",
+     "inst_id": 1,
+     "noun": "rail r",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      6.679688163796635,
+      -2.82741358400467,
+      0.47750005415264124
+     ],
+     "bbox": {
+      "extent": [
+       1.0000000047539652,
+       1.0000009857820338,
+       1.0
+      ],
+      "center": [
+       4.440892098500626e-16,
+       6.050715484207103e-15,
+       -7.105427357601002e-15
+      ]
+     }
+    },
+    {
+     "id": "end_wall_1",
+     "cat_name": "end_wall",
+     "inst_id": 1,
+     "noun": "end wall",
+     "color": "gray",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      6.788759702789746,
+      -2.6464173150329744,
+      0.47750005661902195
+     ],
+     "bbox": {
+      "extent": [
+       1.0000007187993702,
+       1.0000000065197223,
+       1.0
+      ],
+      "center": [
+       -2.1316282072803006e-14,
+       -4.440892098500626e-16,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "marker_1",
+     "cat_name": "marker",
+     "inst_id": 1,
+     "noun": "marker",
+     "color": "green",
+     "size": "large",
+     "material": null,
+     "category": "geometry",
+     "pos": [
+      6.415413137849456,
+      -2.8885688014607247,
+      0.4715000509425614
+     ],
+     "bbox": {
+      "extent": [
+       1.0000000684570853,
+       1.000000068457085,
+       1.0
+      ],
+      "center": [
+       -8.881784197001252e-16,
+       4.6074255521944e-15,
+       0.0
+      ]
+     }
+    },
+    {
+     "id": "ring_1",
+     "cat_name": "ring",
+     "inst_id": 1,
+     "noun": "ring",
+     "color": null,
+     "size": "small",
+     "material": null,
+     "category": "rigid",
+     "pos": [
+      6.704677786717905,
+      -2.718926924303486,
+      0.4720000604540954
+     ],
+     "bbox": {
+      "extent": [
+       0.11000007238888093,
+       0.11000007103474725,
+       0.012000135170185389
+      ],
+      "center": [
+       -4.198030811863873e-16,
+       -5.898059818321144e-16,
+       0.006000000000000061
+      ]
+     }
+    }
+   ],
+   "relations": [
+    {
+     "subject": "table_a_1",
+     "relation": "right_of",
+     "object": "saddle_front_saddle_base_1"
+    },
+    {
+     "subject": "saddle_rear_saddle_base_1",
+     "relation": "left_of",
+     "object": "hook_1"
+    },
+    {
+     "subject": "hook_1",
+     "relation": "on_top_of",
+     "object": "saddle_front_saddle_base_1"
+    },
+    {
+     "subject": "channel_floor_1",
+     "relation": "behind",
+     "object": "ring_1"
+    },
+    {
+     "subject": "rail_l_1",
+     "relation": "left_of",
+     "object": "channel_floor_1"
+    },
+    {
+     "subject": "rail_r_1",
+     "relation": "right_of",
+     "object": "channel_floor_1"
+    },
+    {
+     "subject": "end_wall_1",
+     "relation": "left_of",
+     "object": "ring_1"
+    },
+    {
+     "subject": "marker_1",
+     "relation": "right_of",
+     "object": "channel_floor_1"
+    },
+    {
+     "subject": "ring_1",
+     "relation": "in_front_of",
+     "object": "channel_floor_1"
+    }
+   ],
+   "cameras": [
+    {
+     "name": "head",
+     "intrinsics": {
+      "K": [
+       [
+        355.55555555555554,
+        0.0,
+        320.0
+       ],
+       [
+        0.0,
+        355.55555555555554,
+        240.0
+       ],
+       [
+        0.0,
+        0.0,
+        1.0
+       ]
+      ],
+      "fov_h_deg": 83.97442499163331,
+      "resolution": [
+       640,
+       480
+      ]
+     },
+     "pos_robot": [
+      3.713167415719548,
+      -1.8004104537130454,
+      -0.10499997111119903
+     ],
+     "viewpoint": "front-right, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        -8.039232568535226e-08,
+        -0.9999999999999964,
+        2.5347603738179458e-08
+       ],
+       [
+        0.8191520331270514,
+        -8.039232568535226e-08,
+        -0.5735764522919431
+       ],
+       [
+        0.5735764522919431,
+        -2.5347603738179458e-08,
+        0.819152033127055
+       ]
+      ],
+      "t": [
+       1.855362002599171e-08,
+       -0.2032392724571752,
+       -0.08737481710326404
+      ]
+     }
+    },
+    {
+     "name": "wrist",
+     "intrinsics": {
+      "K": [
+       [
+        320.0,
+        0.0,
+        320.0
+       ],
+       [
+        0.0,
+        320.0,
+        240.0
+       ],
+       [
+        0.0,
+        0.0,
+        1.0
+       ]
+      ],
+      "fov_h_deg": 90.0,
+      "resolution": [
+       640,
+       480
+      ]
+     },
+     "pos_robot": [
+      3.6278430249827345,
+      -1.6688582248542407,
+      -0.02999996992119006
+     ],
+     "viewpoint": "front-right, at table height",
+     "extrinsics": {
+      "R": [
+       [
+        0.0,
+        1.0,
+        -1.4782795217992896e-16
+       ],
+       [
+        1.0,
+        0.0,
+        2.5363269588459423e-17
+       ],
+       [
+        2.5363269588459423e-17,
+        -1.4782795217992896e-16,
+        -1.0
+       ]
+      ],
+      "t": [
+       4.4348384662715026e-18,
+       -0.05979999899864197,
+       0.029999999329447746
+      ]
+     }
+    }
+   ],
+   "robots": [
+    {
+     "name": "RidgebackSawyerUmi",
+     "model": "ridgebacksawyer_umi",
+     "type": "mobilemanip",
+     "noun": "Ridgeback-Sawyer mobile manipulator with a UMI gripper",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
+       -3.3146975406633494,
+       -2.1356804180210913,
+       0.06
+      ],
+      "ori": [
+       0.878537654876709,
+       0.0,
+       0.0,
+       0.47767311334609985
+      ]
+     },
+     "facing_yaw_deg": 57.06707892317555,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1000.0,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the 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 hook, a large white channel floor, a large gray rail l, a large gray rail r, a large gray end wall, a large green marker and a small ring. 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 hook. The hook is on top of the gray saddle front saddle base. The white channel floor is behind the ring. The gray rail l is to the left of the white channel floor. The gray rail r is to the right of the white channel floor. The gray end wall is to the left of the ring. The green marker is to the right of the white channel floor. The ring is in front of the white channel floor. The scene is viewed from front-right, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                [chan[e[m[ring]\n\n\n     [saddle fron[hook]le base]\n      [saddle rear saddle base]\n\n\n\n[robot]"
+  },
+  "task": {
+   "task_type": "MobileToolTask",
+   "instruction": "Go to the tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square.",
+   "template_id": -1,
+   "slots": {
+    "obj": null,
+    "support": null
+   },
+   "generic_instruction": "Mobiletooltask the object.",
+   "task_id": "N026",
+   "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
+}

N026/sawyer_umi/dr_on/seed_2053/data/mobiletooltask/000/lerobot_v21/meta/info.json

@@ -0,0 +1,327 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "RidgebackSawyerUmiCfg",
+    "total_episodes": 1,
+    "total_frames": 3129,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                11
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "frame0.pos_x",
+                "frame0.pos_y",
+                "frame0.pos_z",
+                "frame0.quat_w",
+                "frame0.quat_x",
+                "frame0.quat_y",
+                "frame0.quat_z",
+                "gripper"
+            ]
+        },
+        "action_is_hold": {
+            "dtype": "bool",
+            "shape": [
+                11
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "right_j0",
+                "head_pan",
+                "right_j1",
+                "right_j2",
+                "right_j3",
+                "right_j4",
+                "right_j5",
+                "right_j6",
+                "right_gripper_l_finger_joint",
+                "right_gripper_r_finger_joint",
+                "gripper_0",
+                "gripper_1"
+            ]
+        },
+        "observation.joint_vel": {
+            "dtype": "float32",
+            "shape": [
+                13
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "right_j0",
+                "head_pan",
+                "right_j1",
+                "right_j2",
+                "right_j3",
+                "right_j4",
+                "right_j5",
+                "right_j6",
+                "right_gripper_l_finger_joint",
+                "right_gripper_r_finger_joint"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                80
+            ],
+            "names": [
+                "fixture.0",
+                "fixture.1",
+                "fixture.2",
+                "object_pose.channel_floor.0",
+                "object_pose.channel_floor.1",
+                "object_pose.channel_floor.2",
+                "object_pose.channel_floor.3",
+                "object_pose.channel_floor.4",
+                "object_pose.channel_floor.5",
+                "object_pose.channel_floor.6",
+                "object_pose.end_wall.0",
+                "object_pose.end_wall.1",
+                "object_pose.end_wall.2",
+                "object_pose.end_wall.3",
+                "object_pose.end_wall.4",
+                "object_pose.end_wall.5",
+                "object_pose.end_wall.6",
+                "object_pose.hook.0",
+                "object_pose.hook.1",
+                "object_pose.hook.2",
+                "object_pose.hook.3",
+                "object_pose.hook.4",
+                "object_pose.hook.5",
+                "object_pose.hook.6",
+                "object_pose.marker.0",
+                "object_pose.marker.1",
+                "object_pose.marker.2",
+                "object_pose.marker.3",
+                "object_pose.marker.4",
+                "object_pose.marker.5",
+                "object_pose.marker.6",
+                "object_pose.rail_l.0",
+                "object_pose.rail_l.1",
+                "object_pose.rail_l.2",
+                "object_pose.rail_l.3",
+                "object_pose.rail_l.4",
+                "object_pose.rail_l.5",
+                "object_pose.rail_l.6",
+                "object_pose.rail_r.0",
+                "object_pose.rail_r.1",
+                "object_pose.rail_r.2",
+                "object_pose.rail_r.3",
+                "object_pose.rail_r.4",
+                "object_pose.rail_r.5",
+                "object_pose.rail_r.6",
+                "object_pose.ring.0",
+                "object_pose.ring.1",
+                "object_pose.ring.2",
+                "object_pose.ring.3",
+                "object_pose.ring.4",
+                "object_pose.ring.5",
+                "object_pose.ring.6",
+                "object_pose.saddle_front_saddle_base.0",
+                "object_pose.saddle_front_saddle_base.1",
+                "object_pose.saddle_front_saddle_base.2",
+                "object_pose.saddle_front_saddle_base.3",
+                "object_pose.saddle_front_saddle_base.4",
+                "object_pose.saddle_front_saddle_base.5",
+                "object_pose.saddle_front_saddle_base.6",
+                "object_pose.saddle_rear_saddle_base.0",
+                "object_pose.saddle_rear_saddle_base.1",
+                "object_pose.saddle_rear_saddle_base.2",
+                "object_pose.saddle_rear_saddle_base.3",
+                "object_pose.saddle_rear_saddle_base.4",
+                "object_pose.saddle_rear_saddle_base.5",
+                "object_pose.saddle_rear_saddle_base.6",
+                "object_pose.table_a.0",
+                "object_pose.table_a.1",
+                "object_pose.table_a.2",
+                "object_pose.table_a.3",
+                "object_pose.table_a.4",
+                "object_pose.table_a.5",
+                "object_pose.table_a.6",
+                "object_pose.table_b.0",
+                "object_pose.table_b.1",
+                "object_pose.table_b.2",
+                "object_pose.table_b.3",
+                "object_pose.table_b.4",
+                "object_pose.table_b.5",
+                "object_pose.table_b.6"
+            ]
+        },
+        "action.command": {
+            "dtype": "float32",
+            "shape": [
+                16
+            ],
+            "names": null
+        },
+        "action.applied": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": null
+        },
+        "narration": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "collect_info": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "extra.reward": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "extra.action_info": {
+            "dtype": "string",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.truncated": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "sim_step_idx": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "timestamp": {
+            "dtype": "float32",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "frame_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "episode_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "task_index": {
+            "dtype": "int64",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "next.done": {
+            "dtype": "bool",
+            "shape": [
+                1
+            ],
+            "names": null
+        },
+        "observation.images.head": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25,
+                "video.codec": "libsvtav1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25,
+                "video.codec": "libsvtav1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        }
+    }
+}

N026/sawyer_umi/dr_on/seed_2053/data/mobiletooltask/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,264 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-07 22:14:07"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "RidgebackSawyerUmi",
+                "cfg": "RidgebackSawyerUmiCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HolonomicAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "frame0.pos_x",
+                    "frame0.pos_y",
+                    "frame0.pos_z",
+                    "frame0.quat_w",
+                    "frame0.quat_x",
+                    "frame0.quat_y",
+                    "frame0.quat_z"
+                ],
+                "source": "PinkInverseKinematicsAction",
+                "names_source": "pink_layout"
+            },
+            {
+                "name": "RidgebackSawyerUmi.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_pos",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.gripper_pos",
+                "start": 13,
+                "end": 15,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 13,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_vel",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
+                "K": [
+                    [
+                        355.55555555555554,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        355.55555555555554,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 83.97442499163331,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.21660000085830688,
+                0.0,
+                -0.04500000178813934
+            ],
+            "quat": [
+                -0.6743797063827515,
+                0.21263112127780914,
+                -0.21263112127780914,
+                0.6743797659873962
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        320.0,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        320.0,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 90.0,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.05979999899864197,
+                0.0,
+                0.029999999329447746
+            ],
+            "quat": [
+                6.123234262925839e-17,
+                0.7071067690849304,
+                0.7071067690849304,
+                -4.329780301713277e-17
+            ]
+        }
+    },
+    "lerobot": {
+        "codebase_version": "v2.1",
+        "video_keys": [
+            "observation.images.head",
+            "observation.images.wrist"
+        ],
+        "columns": [
+            "action",
+            "action.applied",
+            "action.command",
+            "action_is_hold",
+            "collect_info",
+            "episode_index",
+            "extra.action_info",
+            "extra.reward",
+            "frame_index",
+            "index",
+            "narration",
+            "next.done",
+            "next.truncated",
+            "observation.eef_pose",
+            "observation.environment_state",
+            "observation.images.head",
+            "observation.images.wrist",
+            "observation.joint_vel",
+            "observation.state",
+            "sim_step_idx",
+            "task_index",
+            "timestamp"
+        ]
+    },
+    "generated_run": {
+        "run_id": "mobiletooltask/000",
+        "task_type": "MobileToolTask"
+    }
+}

N026/sawyer_umi/dr_on/seed_2053/data/mobiletooltask/000/lerobot_v21/meta/stats.json

@@ -0,0 +1,1065 @@
+{
+    "action": {
+        "mean": [
+            0.057316097684178384,
+            0.0009892638548006166,
+            0.004222573107677714,
+            1.024617829290717,
+            0.7734294401624021,
+            0.7576874762002025,
+            -0.2896247459328491,
+            0.394949130287716,
+            0.19067955934731687,
+            -0.22678601976458948,
+            0.6804090763822307
+        ],
+        "std": [
+            0.10407779283987156,
+            0.012240277738838493,
+            0.14720884189482442,
+            1.6136735859496765,
+            0.7239287018362724,
+            0.2272341391879219,
+            0.5194092532765318,
+            0.46954017495265593,
+            0.2914057085373705,
+            0.31172244189988974,
+            0.4663180943936429
+        ],
+        "min": [
+            0.0,
+            -0.18992747366428375,
+            -0.800000011920929,
+            -3.1569972038269043,
+            -1.5973650217056274,
+            0.584129810333252,
+            -0.7075391411781311,
+            -0.7071068286895752,
+            -0.5234546065330505,
+            -0.712445080280304,
+            0.0
+        ],
+        "max": [
+            0.30000001192092896,
+            0.07359349727630615,
+            0.800000011920929,
+            3.120675563812256,
+            1.5648473501205444,
+            1.3033589124679565,
+            0.7071068286895752,
+            0.708848774433136,
+            0.5254806280136108,
+            0.4753533601760864,
+            1.0
+        ],
+        "count": [
+            3129
+        ]
+    },
+    "action_is_hold": {
+        "mean": [
+            0.008948545861297539,
+            0.008948545861297539,
+            0.008948545861297539,
+            0.028124001278363696,
+            0.028124001278363696,
+            0.028124001278363696,
+            0.028124001278363696,
+            0.028124001278363696,
+            0.028124001278363696,
+            0.028124001278363696,
+            0.9808245445829339
+        ],
+        "std": [
+            0.0941725511402691,
+            0.0941725511402691,
+            0.0941725511402691,
+            0.16532707530970925,
+            0.16532707530970925,
+            0.16532707530970925,
+            0.16532707530970925,
+            0.16532707530970925,
+            0.16532707530970925,
+            0.16532707530970925,
+            0.13714137715005167
+        ],
+        "min": [
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "max": [
+            1.0,
+            1.0,
+            1.0,
+            1.0,
+            1.0,
+            1.0,
+            1.0,
+            1.0,
+            1.0,
+            1.0,
+            1.0
+        ],
+        "count": [
+            3129
+        ]
+    },
+    "observation.state": {
+        "mean": [
+            0.9703607124884542,
+            -4.107394303403826,
+            0.7188254698810962,
+            -0.07172648396015288,
+            3.0585194014623526e-07,
+            -1.4048104121133367,
+            -0.25591344936335614,
+            1.9330053759691777,
+            -0.49868498092434443,
+            -0.30272458977593997,
+            1.6472348608856981,
+            0.011698988883224806,
+            -0.013880966309975562,
+            -0.013880966309975562,
+            -0.011698988883224806
+        ],
+        "std": [
+            1.378184293563627,
+            1.2903202742592987,
+            0.6893174312599446,
+            0.48226197863174436,
+            2.3354809286203448e-05,
+            0.4597085122103929,
+            0.45743150167482505,
+            0.6321183110579611,
+            0.30871727076179706,
+            1.3941133132212125,
+            0.738988852741475,
+            0.0061676598327248785,
+            0.006101202065287974,
+            0.006101202065287974,
+            0.0061676598327248785
+        ],
+        "min": [
+            -3.314697504043579,
+            -5.523874282836914,
+            -0.22136467695236206,
+            -1.0560284852981567,
+            -0.00043013872345909476,
+            -2.1285626888275146,
+            -0.9818180203437805,
+            0.497035413980484,
+            -1.2737622261047363,
+            -1.9018328189849854,
+            -0.00012037622946081683,
+            0.0,
+            -0.020833000540733337,
+            -0.020833000540733337,
+            -0.020833000540733337
+        ],
+        "max": [
+            2.2822935581207275,
+            -2.1356804370880127,
+            1.5118733644485474,
+            0.713644802570343,
+            0.0003034723049495369,
+            -0.21914401650428772,
+            0.33917275071144104,
+            2.7577579021453857,
+            0.15460342168807983,
+            2.7007172107696533,
+            2.958759307861328,
+            0.020833000540733337,
+            0.0,
+            0.0,
+            -0.0
+        ],
+        "count": [
+            3129
+        ]
+    },
+    "observation.joint_vel": {
+        "mean": [
+            0.044673734484881544,
+            -0.02712352485196811,
+            0.003998202105313951,
+            -0.008440053834437963,
+            -3.0661760708573624e-05,
+            0.010759815915729928,
+            0.002869312305119809,
+            0.017783479493529177,
+            -0.005712425248521452,
+            -0.03774465326870711,
+            0.005871761156095824,
+            0.030120696414332546,
+            -0.021483538894375567
+        ],
+        "std": [
+            0.08988499138920493,
+            0.05876548168463721,
+            0.14789160127457157,
+            0.07511961210216624,
+            0.0006606680390904056,
+            0.06023394479062776,
+            0.0645488668467403,
+            0.056714474580075246,
+            0.0810556143174072,
+            0.10595947720109006,
+            0.1093118804921768,
+            0.03009266067972133,
+            0.024313721816799864
+        ],
+        "min": [
+            -0.0003624947858043015,
+            -0.24818547070026398,
+            -0.800046980381012,
+            -0.18250450491905212,
+            -0.009743046946823597,
+            -0.13573303818702698,
+            -0.1894841343164444,
+            -0.09663877636194229,
+            -0.32302796840667725,
+            -0.32108360528945923,
+            -0.37526819109916687,
+            -0.09999989718198776,
+            -0.10008157789707184
+        ],
+        "max": [
+            0.30603325366973877,
+            0.01779218390583992,
+            0.8000169992446899,
+            0.25870195031166077,
+            0.02133202739059925,
+            0.1430632472038269,
+            0.188312828540802,
+            0.19547757506370544,
+            0.3200828433036804,
+            0.20535358786582947,
+            0.41142070293426514,
+            0.10001105070114136,
+            0.10000007599592209
+        ],
+        "count": [
+            3129
+        ]
+    },
+    "observation.eef_pose": {
+        "mean": [
+            1.0331257263686033,
+            0.7671739684005461,
+            0.7876705234901865,
+            -0.48144331896905607,
+            0.6038121240765342,
+            0.21589123200388258,
+            -0.3086115218085914
+        ],
+        "std": [
+            1.605208781769988,
+            0.7183700703661513,
+            0.23300895355907647,
+            0.3141263564094646,
+            0.1005025279867557,
+            0.28720365347530735,
+            0.26553905792162985
+        ],
+        "min": [
+            -3.1569972038269043,
+            -1.5980844497680664,
+            0.5840325355529785,
+            -0.7102408409118652,
+            0.4694751501083374,
+            -0.46579769253730774,
+            -0.7158715128898621
+        ],
+        "max": [
+            3.1205649375915527,
+            1.5643020868301392,
+            1.3057526350021362,
+            0.39470458030700684,
+            0.7149884104728699,
+            0.53485506772995,
+            0.10221794992685318
+        ],
+        "count": [
+            3129
+        ]
+    },
+    "observation.environment_state": {
+        "mean": [
+            2.6151423302653805,
+            1.993014759893957,
+            0.5319901457721335,
+            2.5999999046325684,
+            1.9299999475479126,
+            0.531000018119812,
+            0.7071067690849304,
+            0.0,
+            0.0,
+            0.7071067690849304,
+            2.5999999046325684,
+            2.119999885559082,
+            0.5375000238418579,
+            0.7071067690849304,
+            0.0,
+            0.0,
+            0.7071067690849304,
+            1.3666068459265324,
+            0.9217971077206113,
+            0.6680365958203138,
+            0.8809814835250016,
+            0.004302072077931138,
+            -0.003095875786149645,
+            0.2834885741357428,
+            2.5999999046325684,
+            1.6749999523162842,
+            0.531499981880188,
+            0.7071067690849304,
+            0.0,
+            0.0,
+            0.7071067690849304,
+            2.507499933242798,
+            1.9299999475479126,
+            0.5375000238418579,
+            0.7071067690849304,
+            0.0,
+            0.0,
+            0.7071067690849304,
+            2.692500114440918,
+            1.9299999475479126,
+            0.5375000238418579,
+            0.7071067690849304,
+            0.0,
+            0.0,
+            0.7071067690849304,
+            2.6151423302653805,
+            1.993014759893957,
+            0.5319901457721335,
+            0.7068780929412123,
+            0.00016165260042638,
+            -0.00016290656813277722,
+            0.7073307049925924,
+            0.20000000298023224,
+            0.20000000298023224,
+            0.5659999847412109,
+            1.0,
+            0.0,
+            0.0,
+            0.0,
+            0.05999999865889549,
+            0.20000000298023224,
+            0.5659999847412109,
+            1.0,
+            0.0,
+            0.0,
+            0.0,
+            0.2750000059604645,
+            0.20000000298023224,
+            0.2800000011920929,
+            1.0,
+            0.0,
+            0.0,
+            0.0,
+            2.5999999046325684,
+            2.0,
+            0.2800000011920929,
+            0.7071067690849304,
+            0.0,
+            0.0,
+            0.7071067690849304
+        ],
+        "std": [
+            0.0017149373709592483,
+            0.0571644353752947,
+            8.457941936135335e-05,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.2440700393818007,
+            0.7122428838604092,
+            0.08317176810616657,
+            0.140374790236537,
+            0.018921832325121703,
+            0.017088459467869858,
+            0.350888342644836,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0017149373709592483,
+            0.0571644353752947,
+            8.457941936135335e-05,
+            0.0013615520690560138,
+            0.0012005633931989595,
+            0.0012253312672860929,
+            0.0013330469707321028,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0
+        ],
+        "min": [
+            2.604483127593994,
+            1.7034437656402588,
+            0.5310869812965393,
+            2.5999999046325684,
+            1.9299999475479126,
+            0.531000018119812,
+            0.7071067690849304,
+            0.0,
+            0.0,
+            0.7071067690849304,
+            2.5999999046325684,
+            2.119999885559082,
+            0.5375000238418579,
+            0.7071067690849304,
+            0.0,
+            0.0,
+            0.7071067690849304,
+            -0.22769074141979218,
+            0.1845293641090393,
+            0.5956487655639648,
+            0.6719111204147339,
+            -0.08691241592168808,
+            -0.03140444681048393,
+            -0.1428997665643692,
+            2.5999999046325684,
+            1.6749999523162842,
+            0.531499981880188,
+            0.7071067690849304,
+            0.0,
+            0.0,
+            0.7071067690849304,
+            2.507499933242798,
+            1.9299999475479126,
+            0.5375000238418579,
+            0.7071067690849304,
+            0.0,
+            0.0,
+            0.7071067690849304,
+            2.692500114440918,
+            1.9299999475479126,
+            0.5375000238418579,
+            0.7071067690849304,
+            0.0,
+            0.0,
+            0.7071067690849304,
+            2.604483127593994,
+            1.7034437656402588,
+            0.5310869812965393,
+            0.6940097808837891,
+            -0.0011137122055515647,
+            -0.012126515619456768,
+            0.7053437829017639,
+            0.20000000298023224,
+            0.20000000298023224,
+            0.5659999847412109,
+            1.0,
+            0.0,
+            0.0,
+            0.0,
+            0.05999999865889549,
+            0.20000000298023224,
+            0.5659999847412109,
+            1.0,
+            0.0,
+            0.0,
+            0.0,
+            0.2750000059604645,
+            0.20000000298023224,
+            0.2800000011920929,
+            1.0,
+            0.0,
+            0.0,
+            0.0,
+            2.5999999046325684,
+            2.0,
+            0.2800000011920929,
+            0.7071067690849304,
+            0.0,
+            0.0,
+            0.7071067690849304
+        ],
+        "max": [
+            2.6221868991851807,
+            2.009999990463257,
+            0.5327091813087463,
+            2.5999999046325684,
+            1.9299999475479126,
+            0.531000018119812,
+            0.7071067690849304,
+            0.0,
+            0.0,
+            0.7071067690849304,
+            2.5999999046325684,
+            2.119999885559082,
+            0.5375000238418579,
+            0.7071067690849304,
+            0.0,
+            0.0,
+            0.7071067690849304,
+            3.366684675216675,
+            1.810755968093872,
+            0.8123849630355835,
+            1.0,
+            0.02435333840548992,
+            0.09000176936388016,
+            0.7383512854576111,
+            2.5999999046325684,
+            1.6749999523162842,
+            0.531499981880188,
+            0.7071067690849304,
+            0.0,
+            0.0,
+            0.7071067690849304,
+            2.507499933242798,
+            1.9299999475479126,
+            0.5375000238418579,
+            0.7071067690849304,
+            0.0,
+            0.0,
+            0.7071067690849304,
+            2.692500114440918,
+            1.9299999475479126,
+            0.5375000238418579,
+            0.7071067690849304,
+            0.0,
+            0.0,
+            0.7071067690849304,
+            2.6221868991851807,
+            2.009999990463257,
+            0.5327091813087463,
+            0.7088652849197388,
+            0.012030852027237415,
+            0.005014691036194563,
+            0.7198988199234009,
+            0.20000000298023224,
+            0.20000000298023224,
+            0.5659999847412109,
+            1.0,
+            0.0,
+            0.0,
+            0.0,
+            0.05999999865889549,
+            0.20000000298023224,
+            0.5659999847412109,
+            1.0,
+            0.0,
+            0.0,
+            0.0,
+            0.2750000059604645,
+            0.20000000298023224,
+            0.2800000011920929,
+            1.0,
+            0.0,
+            0.0,
+            0.0,
+            2.5999999046325684,
+            2.0,
+            0.2800000011920929,
+            0.7071067690849304,
+            0.0,
+            0.0,
+            0.7071067690849304
+        ],
+        "count": [
+            3129
+        ]
+    },
+    "action.command": {
+        "mean": [
+            -1.825543544260063,
+            -0.7137734721042022,
+            0.9667701799667741,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            -0.055902663597500825,
+            1.060269128162486,
+            0.7879338627463695,
+            0.7531197502282998,
+            -0.2874103617272225,
+            0.3861069353404542,
+            0.19515205104318167,
+            -0.22444608444352152,
+            0.5
+        ],
+        "std": [
+            1.1770772303288888,
+            1.1239183168937898,
+            0.7641691625108454,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            1.3931877937324988,
+            1.6228159826649973,
+            0.7290808630858693,
+            0.22153963822404368,
+            0.5224865116091145,
+            0.4733563115567641,
+            0.2943020092272482,
+            0.31013600414231646,
+            0.5
+        ],
+        "min": [
+            -3.314694404602051,
+            -2.135671615600586,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            -1.0,
+            -3.1569972038269043,
+            -1.5973650217056274,
+            0.584129810333252,
+            -0.7075391411781311,
+            -0.7071068286895752,
+            -0.5234546065330505,
+            -0.7123669981956482,
+            0.0
+        ],
+        "max": [
+            -0.8951402902603149,
+            0.17461110651493073,
+            1.5707963705062866,
+            0.0,
+            0.0,
+            0.0,
+            0.0,
+            2.0,
+            3.120675563812256,
+            1.5648473501205444,
+            1.3033589124679565,
+            0.7071068286895752,
+            0.708848774433136,
+            0.5254806280136108,
+            0.4753533601760864,
+            1.0
+        ],
+        "count": [
+            3129
+        ]
+    },
+    "action.applied": {
+        "mean": [
+            0.057316097684178384,
+            0.0009892638548006166,
+            0.004222573107677714,
+            -0.07230012078472962,
+            -1.404454753583862,
+            -0.25559408993219584,
+            1.9338236982333237,
+            -0.499192377238589,
+            -0.30540703590655716,
+            1.6476551072397019,
+            -0.0025962106687081967,
+            0.0025962106687081967
+        ],
+        "std": [
+            0.10407779283987156,
+            0.012240277738838493,
+            0.14720884189482442,
+            0.48281006931058246,
+            0.4604752196684681,
+            0.4575513178205787,
+            0.6314264438409622,
+            0.3088145990065722,
+            1.392937717970873,
+            0.7383433575649931,
+            0.012205054686020008,
+            0.012205054686020008
+        ],
+        "min": [
+            0.0,
+            -0.18992747366428375,
+            -0.800000011920929,
+            -1.0620540380477905,
+            -2.1278655529022217,
+            -0.9781221151351929,
+            0.4984668493270874,
+            -1.274076223373413,
+            -1.9021941423416138,
+            -0.000140256219310686,
+            -0.009999999776482582,
+            -0.020833000540733337
+        ],
+        "max": [
+            0.30000001192092896,
+            0.07359349727630615,
+            0.800000011920929,
+            0.7138027548789978,
+            -0.2105511724948883,
+            0.34044620394706726,
+            2.7581887245178223,
+            0.15470664203166962,
+            2.7003509998321533,
+            2.9594504833221436,
+            0.020833000540733337,
+            0.009999999776482582
+        ],
+        "count": [
+            3129
+        ]
+    },
+    "extra.reward": {
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "count": [
+            3129
+        ]
+    },
+    "next.truncated": {
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "count": [
+            3129
+        ]
+    },
+    "sim_step_idx": {
+        "mean": [
+            3189.0
+        ],
+        "std": [
+            1806.5289000363837
+        ],
+        "min": [
+            61.0
+        ],
+        "max": [
+            6317.0
+        ],
+        "count": [
+            3129
+        ]
+    },
+    "timestamp": {
+        "mean": [
+            62.5600000017508
+        ],
+        "std": [
+            36.130578000580336
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            125.12000274658203
+        ],
+        "count": [
+            3129
+        ]
+    },
+    "frame_index": {
+        "mean": [
+            1564.0
+        ],
+        "std": [
+            903.2644500181918
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            3128.0
+        ],
+        "count": [
+            3129
+        ]
+    },
+    "episode_index": {
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "count": [
+            3129
+        ]
+    },
+    "index": {
+        "mean": [
+            1564.0
+        ],
+        "std": [
+            903.2644500181918
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            3128.0
+        ],
+        "count": [
+            3129
+        ]
+    },
+    "task_index": {
+        "mean": [
+            0.0
+        ],
+        "std": [
+            0.0
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            0.0
+        ],
+        "count": [
+            3129
+        ]
+    },
+    "next.done": {
+        "mean": [
+            0.00031959092361776926
+        ],
+        "std": [
+            0.017874249222255754
+        ],
+        "min": [
+            0.0
+        ],
+        "max": [
+            1.0
+        ],
+        "count": [
+            3129
+        ]
+    },
+    "observation.images.head": {
+        "mean": [
+            [
+                [
+                    0.4650312620054753
+                ]
+            ],
+            [
+                [
+                    0.38616755337780323
+                ]
+            ],
+            [
+                [
+                    0.3655883730567575
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.1844564145250463
+                ]
+            ],
+            [
+                [
+                    0.20112230008659046
+                ]
+            ],
+            [
+                [
+                    0.19640722851790704
+                ]
+            ]
+        ],
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    0.9647058823529412
+                ]
+            ],
+            [
+                [
+                    0.9647058823529412
+                ]
+            ],
+            [
+                [
+                    0.9686274509803922
+                ]
+            ]
+        ],
+        "count": [
+            100
+        ]
+    },
+    "observation.images.wrist": {
+        "mean": [
+            [
+                [
+                    0.4506231856685155
+                ]
+            ],
+            [
+                [
+                    0.3912258648879808
+                ]
+            ],
+            [
+                [
+                    0.32913018396681887
+                ]
+            ]
+        ],
+        "std": [
+            [
+                [
+                    0.16354615367423245
+                ]
+            ],
+            [
+                [
+                    0.15087974035216628
+                ]
+            ],
+            [
+                [
+                    0.15557772626835528
+                ]
+            ]
+        ],
+        "min": [
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ],
+            [
+                [
+                    0.0
+                ]
+            ]
+        ],
+        "max": [
+            [
+                [
+                    0.9607843137254902
+                ]
+            ],
+            [
+                [
+                    0.9490196078431372
+                ]
+            ],
+            [
+                [
+                    0.9529411764705882
+                ]
+            ]
+        ],
+        "count": [
+            100
+        ]
+    }
+}

N026/sawyer_umi/dr_on/seed_2053/data/mobiletooltask/000/lerobot_v21/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Go to the tool rack, pick up the hook, carry it to the channel, and use the hook to pull the ring out onto the marked square."}

N026/sawyer_umi/dr_on/seed_2053/data/mobiletooltask/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a454d7dc2fdc6f3bce83a2aa3df6cc47819e4e154c126ffaa91081e288a7dfe0
+size 82000704

N026/sawyer_umi/dr_on/seed_2053/data/mobiletooltask/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed08ac2d645e623e07649f4ccbaee49b48c5c5d661192ee23ce23991d890822b
+size 63538708

N026/sawyer_umi/dr_on/seed_2053/data/mobiletooltask/000/run_meta.json

@@ -0,0 +1,1047 @@
+{
+    "run_id": "mobiletooltask/000",
+    "created": "2026-11-07 21:58:13",
+    "num_envs": 1,
+    "session_id": null,
+    "record_config": {
+        "output_dir": "/mnt/scratch/xc536_atomic/n026_saw_on_2053/out/data",
+        "formats": [
+            "lerobot_v21",
+            "sim_info"
+        ],
+        "clear_buffer_on_failure": true,
+        "lerobot": {
+            "subsample_every": 2
+        }
+    },
+    "config": {
+        "env": {
+            "sim": {
+                "device": "cpu",
+                "use_fabric": false,
+                "decimation": 4,
+                "dt": 0.005,
+                "seed": 2053,
+                "soft_resets": 100,
+                "scene": {
+                    "num_envs": 1,
+                    "env_spacing": 12
+                },
+                "render": {
+                    "rendering_mode": "performance",
+                    "enable_reflections": false,
+                    "enable_global_illumination": false,
+                    "enable_translucency": false,
+                    "enable_dl_denoiser": false
+                }
+            },
+            "robot": {
+                "RidgebackSawyerUmi": {
+                    "name": "ridgebacksawyer_umi",
+                    "type": "mobilemanip",
+                    "common": {
+                        "pos": [
+                            [
+                                -3.3146975406633494,
+                                -2.1356804180210913,
+                                0.06
+                            ],
+                            [
+                                -3.3146975406633494,
+                                -2.1356804180210913,
+                                0.06
+                            ]
+                        ],
+                        "ori": [
+                            [
+                                0.0,
+                                0.0,
+                                57.06707850391622
+                            ],
+                            [
+                                0.0,
+                                0.0,
+                                57.06707850391622
+                            ]
+                        ],
+                        "initial_joint_pos": {
+                            "dummy_base_.*": 0.0,
+                            "head_pan": 0.0,
+                            "right_j0": 0.0,
+                            "right_j1": -1.6,
+                            "right_j2": 0.0,
+                            "right_j3": 0.5,
+                            "right_j4": 0.0,
+                            "right_j5": 2.7,
+                            "right_j6": 0.0,
+                            "right_gripper_l_finger_joint": 0.0,
+                            "right_gripper_r_finger_joint": 0.0
+                        }
+                    },
+                    "action": {
+                        "base_action": "holonomic_action",
+                        "arm_action": "ik_pink",
+                        "eef_action": "binary"
+                    },
+                    "planner": {
+                        "dual_mode": true,
+                        "base_joint_names": [
+                            "dummy_base_prismatic_x_joint",
+                            "dummy_base_prismatic_y_joint",
+                            "dummy_base_revolute_z_joint"
+                        ],
+                        "ik": {
+                            "type": "ridgebacksawyer_umi",
+                            "enable": true,
+                            "ik_num_instances": 1,
+                            "ik_batch_size": 1,
+                            "ik_num_seeds": 32,
+                            "ik_max_goalset": 64,
+                            "ik_position_threshold": 0.005,
+                            "ik_rotation_threshold": 0.05,
+                            "microbatch_wait_ms": 20.0,
+                            "relative_to_world_frame": false
+                        },
+                        "motiongen": {
+                            "type": "ridgebacksawyer_umi",
+                            "enable": true,
+                            "motiongen_num_instances": 1,
+                            "max_attempts": 6,
+                            "batch_size": 1,
+                            "microbatch_wait_ms": 20.0,
+                            "mode": "position",
+                            "relative_to_world_frame": false,
+                            "start_state_limit_inset": 0.002
+                        },
+                        "body": {
+                            "type": "nav",
+                            "dwb_type": "dwb_holonomic",
+                            "dwb_holonomic": {
+                                "device": "cpu",
+                                "dt": 0.02,
+                                "debug": false,
+                                "num_rollout_steps": 60,
+                                "num_speed_samples": 11,
+                                "num_steer_samples": 11,
+                                "num_vx_samples": 7,
+                                "num_vy_samples": 7,
+                                "num_yaw_samples": 7,
+                                "max_accel": 1.5,
+                                "max_steer_rate": 1.5,
+                                "max_accel_vx": 1.5,
+                                "max_accel_vy": 1.5,
+                                "max_yaw_accel": 1.5,
+                                "w_goal": 6.0,
+                                "w_path": 8.0,
+                                "w_vel": 0.2,
+                                "w_vy": 0.0,
+                                "goal_cost_mode": "path",
+                                "dilate_radius": 0.36,
+                                "room_size": 12.0,
+                                "occupancy_update_interval": 25,
+                                "scan_height": 0.38,
+                                "scan_min_z": 0.15,
+                                "scan_max_z": 1.68,
+                                "goal_pos_threshold": 0.03,
+                                "goal_yaw_threshold": 0.04,
+                                "kp_goal_yaw": 1.5,
+                                "heading_reference": "path",
+                                "turn_yaw_threshold": 0.8,
+                                "heading_lookahead": 0.8,
+                                "heading_min_leg": 0.35,
+                                "route_yaw_gain": 2.0,
+                                "goal_yaw_hysteresis": 0.02,
+                                "min_vx": -0.3,
+                                "max_vx": 0.3,
+                                "min_vy": -0.3,
+                                "max_vy": 0.3,
+                                "min_yaw_rate": -0.8,
+                                "max_yaw_rate": 0.8,
+                                "safety_enabled": true,
+                                "safety_deceleration": 0.5,
+                                "safety_reaction_time": 0.5,
+                                "scan_type": "3d"
+                            },
+                            "p_controller": {
+                                "kp_angular_turning_only": 2.0,
+                                "kd_angular_turning_only": 1.0,
+                                "kp_linear_x": 3.0,
+                                "kp_linear_y": 3.0,
+                                "kp_angular": 2.0,
+                                "kd_linear_x": 1.0,
+                                "kd_linear_y": 1.0,
+                                "min_vel": -0.4,
+                                "max_vel": 0.5,
+                                "linear_dead_zone": 0.01,
+                                "angular_dead_zone": 0.05,
+                                "nav_heading_target": -1,
+                                "nav_upgrade_distance": 0.03
+                            }
+                        },
+                        "arm": {
+                            "type": "default"
+                        },
+                        "eef": {
+                            "type": "default"
+                        }
+                    },
+                    "physics": {
+                        "robot_radius": 0.66,
+                        "wheel_base": 0.01
+                    },
+                    "reset": "default"
+                }
+            },
+            "camera": {
+                "enable_tiled": false,
+                "colorize_depth": false,
+                "head": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 2.0,
+                        "horizontal_aperture": 3.6,
+                        "vertical_aperture": 2.7,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/head",
+                        "pos": [
+                            0.2166,
+                            0.0,
+                            -0.045
+                        ],
+                        "ori": [
+                            -0.0,
+                            35.0,
+                            -90.0
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                },
+                "wrist": {
+                    "camera": {
+                        "type": "camera",
+                        "mesh": "pinhole",
+                        "resolution": [
+                            640,
+                            480
+                        ],
+                        "frequency": 25,
+                        "focal_length": 1.8,
+                        "horizontal_aperture": 3.6,
+                        "vertical_aperture": 2.7,
+                        "clipping_range": [
+                            0.05,
+                            30.0
+                        ],
+                        "focus_distance": 3.0,
+                        "mode": "RGB",
+                        "mount_link": "Robot_0/right_electric_gripper_base",
+                        "pos": [
+                            0.0598,
+                            0.0,
+                            0.03
+                        ],
+                        "ori": [
+                            180.0,
+                            0.0,
+                            -90.0
+                        ]
+                    },
+                    "annotator": {
+                        "enabled": true,
+                        "rgb_capture": {
+                            "type": "rgb",
+                            "device": "cpu"
+                        }
+                    }
+                }
+            },
+            "scene": {
+                "terrain": {
+                    "type": "nav_room",
+                    "collision": true,
+                    "hide_top_walls": true,
+                    "usd": [
+                        "$MAGICSIM_ASSETS/Room/Collected_SimpleRoom"
+                    ],
+                    "annotation": "Annotation",
+                    "random": false,
+                    "pos": [
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "ori": [
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "scale": [
+                        1.0,
+                        1.0,
+                        1.0
+                    ],
+                    "physics_material": {
+                        "static_friction": 1.0,
+                        "dynamic_friction": 1.0,
+                        "restitution": 0.0,
+                        "friction_combine_mode": "multiply",
+                        "restitution_combine_mode": "multiply"
+                    }
+                },
+                "background": {
+                    "intensity": [
+                        1000,
+                        1000
+                    ]
+                },
+                "objects": {
+                    "table_a": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                0.275,
+                                0.2,
+                                0.28
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0.0
+                            ],
+                            "scale": [
+                                0.55,
+                                0.7,
+                                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": [
+                                2.6,
+                                2.0,
+                                0.28
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                90.0
+                            ],
+                            "scale": [
+                                0.8,
+                                0.7,
+                                0.5
+                            ]
+                        },
+                        "table_b_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.55,
+                                    0.42,
+                                    0.3
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "saddle_rear_saddle_base": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                0.06,
+                                0.2,
+                                0.566
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0.0
+                            ],
+                            "scale": [
+                                0.03,
+                                0.014,
+                                0.072
+                            ]
+                        },
+                        "saddle_rear_saddle_base_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.5,
+                                    0.4,
+                                    0.3
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "saddle_front_saddle_base": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                0.2,
+                                0.2,
+                                0.566
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0.0
+                            ],
+                            "scale": [
+                                0.03,
+                                0.014,
+                                0.072
+                            ]
+                        },
+                        "saddle_front_saddle_base_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.5,
+                                    0.4,
+                                    0.3
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "hook": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/MobileTool/Hook/Object.usda"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                0.15,
+                                0.2,
+                                0.613
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                0.0
+                            ]
+                        },
+                        "hook_1": {
+                            "physics": {
+                                "type": "rigid",
+                                "mass": 0.10144141811575474,
+                                "collision": true,
+                                "physics_material": {
+                                    "static_friction": 0.9731608208262009,
+                                    "dynamic_friction": 0.9731608208262009,
+                                    "restitution": 0.0
+                                }
+                            }
+                        }
+                    },
+                    "channel_floor": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                2.6,
+                                1.93,
+                                0.531
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                90.0
+                            ],
+                            "scale": [
+                                0.36,
+                                0.16,
+                                0.002
+                            ]
+                        },
+                        "channel_floor_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.8,
+                                    0.8,
+                                    0.85
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true,
+                                "physics_material": {
+                                    "static_friction": 0.12,
+                                    "dynamic_friction": 0.1,
+                                    "restitution": 0.0
+                                }
+                            }
+                        }
+                    },
+                    "rail_l": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                2.5075,
+                                1.93,
+                                0.5375
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                90.0
+                            ],
+                            "scale": [
+                                0.36,
+                                0.025,
+                                0.015
+                            ]
+                        },
+                        "rail_l_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.35,
+                                    0.35,
+                                    0.4
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "rail_r": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                2.6925,
+                                1.93,
+                                0.5375
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                90.0
+                            ],
+                            "scale": [
+                                0.36,
+                                0.025,
+                                0.015
+                            ]
+                        },
+                        "rail_r_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.35,
+                                    0.35,
+                                    0.4
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "end_wall": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                2.6,
+                                2.12,
+                                0.5375
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                90.0
+                            ],
+                            "scale": [
+                                0.02,
+                                0.21000000000000002,
+                                0.015
+                            ]
+                        },
+                        "end_wall_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.35,
+                                    0.35,
+                                    0.4
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": true
+                            }
+                        }
+                    },
+                    "marker": {
+                        "usd": [
+                            "Cube"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                2.6,
+                                1.675,
+                                0.5315
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                90.0
+                            ],
+                            "scale": [
+                                0.11,
+                                0.11,
+                                0.003
+                            ]
+                        },
+                        "marker_1": {
+                            "primitive_params": {
+                                "size": [
+                                    1,
+                                    1,
+                                    1
+                                ]
+                            },
+                            "visual": {
+                                "color": [
+                                    0.15,
+                                    0.7,
+                                    0.25
+                                ]
+                            },
+                            "physics": {
+                                "type": "geometry",
+                                "collision": false
+                            }
+                        }
+                    },
+                    "ring": {
+                        "usd": [
+                            "$MAGICSIM_ASSETS/MobileTool/Ring/Object.usda"
+                        ],
+                        "random": false,
+                        "num_per_env": 1,
+                        "common": {
+                            "pos": [
+                                2.61508,
+                                2.01,
+                                0.532
+                            ],
+                            "ori": [
+                                0,
+                                0,
+                                90.0
+                            ]
+                        },
+                        "ring_1": {
+                            "physics": {
+                                "type": "rigid",
+                                "mass": 0.06,
+                                "collision": true,
+                                "physics_material": {
+                                    "static_friction": 0.2,
+                                    "dynamic_friction": 0.15,
+                                    "restitution": 0.0
+                                }
+                            }
+                        }
+                    }
+                }
+            },
+            "nav": {
+                "navmesh": {
+                    "enabled": true,
+                    "visualize": false,
+                    "bake_timeout_s": 180,
+                    "agent_height_cm": 150,
+                    "min_agent_radius_cm": 45.0,
+                    "max_agent_radius_cm": 45.0,
+                    "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
+                }
+            }
+        },
+        "task": {
+            "observation": {},
+            "reward": {},
+            "termination": {
+                "timeout_steps": 9000,
+                "success_hold_frames": 30
+            },
+            "mobile_tool": {
+                "task_version": "EXT60-MobileAvatar-v3",
+                "agent_id": "a06",
+                "embodiment": "sawyer_umi",
+                "level": "easy",
+                "truncate_on_violation": true,
+                "task_id": "N026",
+                "layout": {
+                    "A": [
+                        0.0,
+                        0.2,
+                        0.0
+                    ],
+                    "B": [
+                        2.6,
+                        1.6,
+                        90.0
+                    ]
+                },
+                "table_top_z": 0.53,
+                "stance": {
+                    "standoff": 0.58,
+                    "lateral": 0.78
+                },
+                "ring_y": -0.015082083721354455,
+                "script": {
+                    "stem_back": 0.035,
+                    "grasp_back_wall": 0.0756,
+                    "pre_mouth_high": 0.1,
+                    "progress_ticks": 50,
+                    "hand_for_tool": true,
+                    "floor_gap": 0.002,
+                    "leg_servo": true,
+                    "descend_segments": 4,
+                    "pull_segments": 3,
+                    "hand_ref_quat": [
+                        0.706,
+                        0.035,
+                        -0.034,
+                        0.706
+                    ]
+                },
+                "settle": {
+                    "enabled": true,
+                    "steps": [
+                        "approach",
+                        "over_mouth",
+                        "over_ring",
+                        "descend",
+                        "descend_1",
+                        "descend_2",
+                        "descend_3",
+                        "descend_4"
+                    ],
+                    "tol": 0.004,
+                    "tries": 4,
+                    "max_offset": 0.05,
+                    "min_gain": 0.002,
+                    "plateau_ticks": 150,
+                    "skip_ticks": 30
+                },
+                "dr": {
+                    "seed": 2053,
+                    "spawn_dxy": [
+                        0.2853024593366509,
+                        0.2643195819789086
+                    ],
+                    "spawn_dyaw_deg": 12.067078503916221,
+                    "friction_scale": 0.9731608208262009,
+                    "mass_scale": 1.0144141811575473,
+                    "ring_y": -0.015082083721354455
+                }
+            },
+            "command": {
+                "MobileToolTask": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "init_limit": 60,
+                    "final_wait_ticks": 150,
+                    "plan": [
+                        {
+                            "name": "nav_A",
+                            "skill": "NavToStation",
+                            "station": "A"
+                        },
+                        {
+                            "name": "pick_tool",
+                            "skill": "ToolScript",
+                            "script": "pick_tool"
+                        },
+                        {
+                            "name": "nav_B",
+                            "skill": "NavToStation",
+                            "station": "B"
+                        },
+                        {
+                            "name": "hook_pull",
+                            "skill": "ToolScript",
+                            "script": "hook_pull"
+                        }
+                    ]
+                }
+            }
+        },
+        "collect": {
+            "global_planner": {
+                "NavTo": {
+                    "use_navmesh": true,
+                    "use_absolute": true,
+                    "carry_arm": true,
+                    "translation_threshold": 0.04,
+                    "rotation_threshold": 0.06,
+                    "num_path_segments": 30,
+                    "start_forward_offset": 0.0,
+                    "visualize_path": false
+                },
+                "NavToTrim": {
+                    "use_navmesh": false,
+                    "carry_arm": true,
+                    "visualize_path": false,
+                    "trim_pos_threshold": 0.01,
+                    "trim_yaw_threshold": 0.006,
+                    "max_steps": 1500
+                },
+                "MobileMoveL": {
+                    "translation_threshold": 0.006,
+                    "rotation_threshold": 0.2,
+                    "motiongen_distance_threshold": 0.05,
+                    "timeout_steps": 1800,
+                    "stall_release_ticks": 50,
+                    "stall_release_factor": 3.0,
+                    "debug": false,
+                    "debug_viz": false,
+                    "debug_sphere": false,
+                    "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": 20,
+                    "interp_steps": 240,
+                    "interp_validate_target": false,
+                    "retry_mobile_on_locked_plan_failure": true
+                },
+                "ParallelGripper": {
+                    "gripper_threshold": 0.0005,
+                    "timeout_steps": 60
+                }
+            },
+            "atomic_skill": {
+                "NavToStation": {
+                    "robot_id": 0,
+                    "position_offset": 0.0,
+                    "position_threshold": 0.12,
+                    "angle_threshold": 0.1
+                },
+                "ToolScript": {
+                    "robot_id": 0,
+                    "hand_id": 0
+                }
+            },
+            "auto_collect": {
+                "task_type": "mobile_tool",
+                "max_trajectories": 1
+            },
+            "record": {
+                "output_dir": "/mnt/scratch/xc536_atomic/n026_saw_on_2053/out/data",
+                "formats": [
+                    "lerobot_v21",
+                    "sim_info"
+                ],
+                "clear_buffer_on_failure": true,
+                "lerobot": {
+                    "subsample_every": 2
+                }
+            },
+            "command": {
+                "MobileToolTask": {
+                    "robot_id": 0,
+                    "hand_id": 0,
+                    "init_limit": 60,
+                    "final_wait_ticks": 150,
+                    "plan": [
+                        {
+                            "name": "nav_A",
+                            "skill": "NavToStation",
+                            "station": "A"
+                        },
+                        {
+                            "name": "pick_tool",
+                            "skill": "ToolScript",
+                            "script": "pick_tool"
+                        },
+                        {
+                            "name": "nav_B",
+                            "skill": "NavToStation",
+                            "station": "B"
+                        },
+                        {
+                            "name": "hook_pull",
+                            "skill": "ToolScript",
+                            "script": "hook_pull"
+                        }
+                    ]
+                }
+            }
+        },
+        "env_string": "HookRetrievalEnv-V0",
+        "levels": {
+            "easy": {},
+            "medium": {
+                "task": {
+                    "mobile_tool": {
+                        "level": "medium",
+                        "ring_y": 0.02
+                    }
+                }
+            },
+            "hard": {
+                "task": {
+                    "mobile_tool": {
+                        "level": "hard",
+                        "ring_y": 0.035
+                    }
+                }
+            }
+        },
+        "visual_dr": {
+            "keep": [
+                "marker",
+                "ring"
+            ]
+        }
+    },
+    "git_sha": "ab32a6159bbbbaadb88109b7fd60e3ffcf42c934",
+    "collect_runtime": {
+        "max_trajectories": 1
+    }
+}

N026/sawyer_umi/dr_on/seed_2053/data/mobiletooltask/000/sim_info/0/actions.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89bf8e2d657ea8ed7be07bfd70430afdddf51dce9983b4976b19212969d2b499
+size 467882

N026/sawyer_umi/dr_on/seed_2053/data/mobiletooltask/000/sim_info/0/scene_snapshot.json

@@ -0,0 +1,667 @@
+{
+    "trajectory_id": 0,
+    "env_id": 0,
+    "run_id": "mobiletooltask/000",
+    "task_type": "MobileToolTask",
+    "success": true,
+    "timing": {
+        "fps": 50.0,
+        "sim_dt": 0.005,
+        "decimation": 4
+    },
+    "restore_interface": {
+        "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
+    },
+    "snapshot": {
+        "env_id": 0,
+        "scene": {
+            "objects": [
+                {
+                    "table_a": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    0.275,
+                                    0.2,
+                                    0.28
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.55,
+                                    0.7,
+                                    0.5
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.55,
+                                        0.42,
+                                        0.3
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "table_b": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    2.6,
+                                    2.0,
+                                    0.28
+                                ],
+                                "ori": [
+                                    0.7071067690849304,
+                                    0.0,
+                                    0.0,
+                                    0.7071067690849304
+                                ],
+                                "scale": [
+                                    0.8,
+                                    0.7,
+                                    0.5
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.55,
+                                        0.42,
+                                        0.3
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "saddle_rear_saddle_base": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    0.06,
+                                    0.2,
+                                    0.566
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.03,
+                                    0.014,
+                                    0.072
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.5,
+                                        0.4,
+                                        0.3
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "saddle_front_saddle_base": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    0.2,
+                                    0.2,
+                                    0.566
+                                ],
+                                "ori": [
+                                    1.0,
+                                    0.0,
+                                    0.0,
+                                    0.0
+                                ],
+                                "scale": [
+                                    0.03,
+                                    0.014,
+                                    0.072
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.5,
+                                        0.4,
+                                        0.3
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "hook": [
+                        {
+                            "asset": "/scratch/xc536/magicsim_atomic/MagicSim/Assets/MobileTool/Hook/Object.usda",
+                            "pose": {
+                                "pos": [
+                                    0.15000000596046448,
+                                    0.20000000298023224,
+                                    0.6129999756813049
+                                ],
+                                "ori": [
+                                    0.9999999403953552,
+                                    4.023730184599117e-07,
+                                    9.685754776000977e-08,
+                                    2.482426850747288e-07
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "rigid",
+                                    "mass": 0.10144141811575474,
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 0.9731608208262009,
+                                        "dynamic_friction": 0.9731608208262009,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "linear_velocity": [
+                                    1.65938942586763e-08,
+                                    2.159437144655385e-06,
+                                    -7.583840897495975e-07
+                                ],
+                                "angular_velocity": [
+                                    -6.898107676533982e-05,
+                                    3.852840109175304e-06,
+                                    -7.937533518997952e-05
+                                ]
+                            }
+                        }
+                    ],
+                    "channel_floor": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    2.6,
+                                    1.93,
+                                    0.531
+                                ],
+                                "ori": [
+                                    0.7071067690849304,
+                                    0.0,
+                                    0.0,
+                                    0.7071067690849304
+                                ],
+                                "scale": [
+                                    0.36,
+                                    0.16,
+                                    0.002
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.8,
+                                        0.8,
+                                        0.85
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 0.12,
+                                        "dynamic_friction": 0.1,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "rail_l": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    2.5075,
+                                    1.93,
+                                    0.5375
+                                ],
+                                "ori": [
+                                    0.7071067690849304,
+                                    0.0,
+                                    0.0,
+                                    0.7071067690849304
+                                ],
+                                "scale": [
+                                    0.36,
+                                    0.025,
+                                    0.015
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.35,
+                                        0.35,
+                                        0.4
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "rail_r": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    2.6925,
+                                    1.93,
+                                    0.5375
+                                ],
+                                "ori": [
+                                    0.7071067690849304,
+                                    0.0,
+                                    0.0,
+                                    0.7071067690849304
+                                ],
+                                "scale": [
+                                    0.36,
+                                    0.025,
+                                    0.015
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.35,
+                                        0.35,
+                                        0.4
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "end_wall": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    2.6,
+                                    2.12,
+                                    0.5375
+                                ],
+                                "ori": [
+                                    0.7071067690849304,
+                                    0.0,
+                                    0.0,
+                                    0.7071067690849304
+                                ],
+                                "scale": [
+                                    0.02,
+                                    0.21000000000000002,
+                                    0.015
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.35,
+                                        0.35,
+                                        0.4
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": true,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "marker": [
+                        {
+                            "asset": "Cube",
+                            "pose": {
+                                "pos": [
+                                    2.6,
+                                    1.675,
+                                    0.5315
+                                ],
+                                "ori": [
+                                    0.7071067690849304,
+                                    0.0,
+                                    0.0,
+                                    0.7071067690849304
+                                ],
+                                "scale": [
+                                    0.11,
+                                    0.11,
+                                    0.003
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": "color",
+                                    "value": [
+                                        0.15,
+                                        0.7,
+                                        0.25
+                                    ],
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "geometry",
+                                    "collision": false,
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": {
+                                    "size": [
+                                        1,
+                                        1,
+                                        1
+                                    ]
+                                }
+                            },
+                            "type_specific": {}
+                        }
+                    ],
+                    "ring": [
+                        {
+                            "asset": "/scratch/xc536/magicsim_atomic/MagicSim/Assets/MobileTool/Ring/Object.usda",
+                            "pose": {
+                                "pos": [
+                                    2.6150801181793213,
+                                    2.009999990463257,
+                                    0.5320000052452087
+                                ],
+                                "ori": [
+                                    0.7071065306663513,
+                                    -1.6461559937397396e-07,
+                                    -2.852074487691425e-07,
+                                    0.7071069478988647
+                                ],
+                                "scale": [
+                                    1.0,
+                                    1.0,
+                                    1.0
+                                ]
+                            },
+                            "dr": {
+                                "visual": {
+                                    "kind": null,
+                                    "value": null,
+                                    "visible": true
+                                },
+                                "physics": {
+                                    "type": "rigid",
+                                    "mass": 0.06,
+                                    "collision": true,
+                                    "physics_material": {
+                                        "static_friction": 0.2,
+                                        "dynamic_friction": 0.15,
+                                        "restitution": 0.0
+                                    },
+                                    "ratio": 1.0
+                                },
+                                "primitive_params": null
+                            },
+                            "type_specific": {
+                                "linear_velocity": [
+                                    2.478516591963853e-08,
+                                    3.397056502763007e-08,
+                                    -7.636562600055186e-07
+                                ],
+                                "angular_velocity": [
+                                    -1.0466680578247178e-05,
+                                    5.526489985641092e-05,
+                                    -7.291229394468246e-06
+                                ]
+                            }
+                        }
+                    ]
+                }
+            ],
+            "artifacts": [
+                {}
+            ],
+            "background": {
+                "type": "dome",
+                "pose": {
+                    "pos": null,
+                    "ori": null,
+                    "scale": null
+                },
+                "dr": {
+                    "intensity": 1000.0,
+                    "texture": null,
+                    "color": [
+                        0.85,
+                        0.85,
+                        0.85
+                    ]
+                }
+            }
+        },
+        "robots": {
+            "RidgebackSawyerUmi": {
+                "root_pose": [
+                    [
+                        -3.314697504043579,
+                        -2.1356804370880127,
+                        0.05999999865889549,
+                        0.878537654876709,
+                        0.0,
+                        0.0,
+                        0.47767311334609985
+                    ]
+                ],
+                "root_vel": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ],
+                "joint_pos": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        -1.600000023841858,
+                        0.0,
+                        0.5,
+                        0.0,
+                        2.700000047683716,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ],
+                "joint_vel": [
+                    [
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0,
+                        0.0
+                    ]
+                ]
+            }
+        },
+        "cameras": {
+            "cameras": {
+                "head": [
+                    [
+                        0.21660000085830688,
+                        0.0,
+                        -0.04500000178813934,
+                        -0.6743797063827515,
+                        0.21263112127780914,
+                        -0.21263112127780914,
+                        0.6743797659873962
+                    ]
+                ],
+                "wrist": [
+                    [
+                        0.05979999899864197,
+                        0.0,
+                        0.029999999329447746,
+                        6.123234262925839e-17,
+                        0.7071067690849304,
+                        0.7071067690849304,
+                        -4.329780301713277e-17
+                    ]
+                ]
+            }
+        }
+    }
+}

N026/sawyer_umi/dr_on/seed_2053/data/mobiletooltask/000/sim_info/0/sim_states.npz

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:11ef756e4bbedde52843a912f90b9686e3defe580c1977a39e7f5e839574ace5
+size 903017

N026/sawyer_umi/dr_on/seed_2053/data/mobiletooltask/000/sim_info/magicsim_manifest.json

@@ -0,0 +1,233 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-07 22:14:56"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "RidgebackSawyerUmi",
+                "cfg": "RidgebackSawyerUmiCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HolonomicAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "frame0.pos_x",
+                    "frame0.pos_y",
+                    "frame0.pos_z",
+                    "frame0.quat_w",
+                    "frame0.quat_x",
+                    "frame0.quat_y",
+                    "frame0.quat_z"
+                ],
+                "source": "PinkInverseKinematicsAction",
+                "names_source": "pink_layout"
+            },
+            {
+                "name": "RidgebackSawyerUmi.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
+    },
+    "state_layout": {
+        "dim": 15,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_pos",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            },
+            {
+                "name": "RidgebackSawyerUmi.gripper_pos",
+                "start": 13,
+                "end": 15,
+                "names": [
+                    "gripper_0",
+                    "gripper_1"
+                ],
+                "source": "ObservationManager",
+                "names_source": "generated"
+            }
+        ]
+    },
+    "joint_vel_layout": {
+        "dim": 13,
+        "segments": [
+            {
+                "name": "RidgebackSawyerUmi.joint_vel",
+                "start": 0,
+                "end": 13,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "right_j0",
+                    "head_pan",
+                    "right_j1",
+                    "right_j2",
+                    "right_j3",
+                    "right_j4",
+                    "right_j5",
+                    "right_j6",
+                    "right_gripper_l_finger_joint",
+                    "right_gripper_r_finger_joint"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
+                "K": [
+                    [
+                        355.55555555555554,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        355.55555555555554,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 83.97442499163331,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.21660000085830688,
+                0.0,
+                -0.04500000178813934
+            ],
+            "quat": [
+                -0.6743797063827515,
+                0.21263112127780914,
+                -0.21263112127780914,
+                0.6743797659873962
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        320.0,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        320.0,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 90.0,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.05979999899864197,
+                0.0,
+                0.029999999329447746
+            ],
+            "quat": [
+                6.123234262925839e-17,
+                0.7071067690849304,
+                0.7071067690849304,
+                -4.329780301713277e-17
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "mobiletooltask/000",
+        "task_type": "MobileToolTask"
+    }
+}

N026/sawyer_umi/dr_on/seed_2053/data/mobiletooltask/000/visual_dr.json

@@ -0,0 +1,676 @@
+{
+ "version": 1,
+ "settings": {
+  "enabled": false,
+  "keep": [
+   "marker",
+   "ring"
+  ],
+  "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": 2053,
+   "seeds": {
+    "0": 2053
+   },
+   "lights": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
+     "type": "RectLight",
+     "intensity": 19347.302477,
+     "intensity_base": 15000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 7392.545169,
+     "rotate_deg": [
+      -4.208,
+      2.375,
+      3.399
+     ]
+    }
+   ],
+   "domes": [
+    {
+     "path": "/World/background",
+     "type": "DomeLight",
+     "intensity": 1350.150654,
+     "intensity_base": 1000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 4072.225419,
+     "rotate_deg": [
+      0.0,
+      0.0,
+      180.005
+     ],
+     "dome": {
+      "path": "/World/background",
+      "hdr_base": null,
+      "hdr": "/scratch/xc536/magicsim_atomic/MagicSim/Assets/Background/moonlit_golf_4k.hdr",
+      "color": [
+       0.808095,
+       0.809285,
+       0.709665
+      ]
+     }
+    }
+   ],
+   "materials": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "shader": "omnipbr",
+     "color": [
+      0.8554,
+      0.768,
+      0.9417
+     ],
+     "color_base": [
+      1.0,
+      1.0,
+      1.0
+     ],
+     "roughness": 0.469699,
+     "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/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl",
+     "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway",
+     "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/Terrazzo.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Terrazzo",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Stone/Serizzo_Gneis.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Serizzo_Gneis",
+     "bound_prims": 22,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
+     "role": "wall",
+     "mdl": "Source/Concrete/Concrete_Polished.mdl",
+     "material": "/MmbVdrLooks/Source_Concrete_Concrete_Polished",
+     "bound_prims": 10,
+     "pool_size": 28,
+     "bind_failed": 0
+    }
+   ],
+   "skipped": {
+    "unsupported_shader": 1,
+    "protected_material": 0,
+    "error": 0,
+    "instance_proxy": 0,
+    "no_swap": 2,
+    "bind_failed": 0
+   },
+   "keep_hits": {
+    "marker": 1,
+    "ring": 12
+   },
+   "physics_skip": {
+    "physics_binding": 24,
+    "rigid_body": 95,
+    "examples": [
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_1/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_2/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_3/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_4/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_5/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_6/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_7/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_1/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/front_laser/visuals/front_laser_visuals/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/front_laser/collisions/mesh_0/box",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/rear_laser/visuals/rear_laser_visuals/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/rear_laser/collisions/mesh_0/box",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/collisions/mesh_0/cylinder",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh3",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh4",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh5",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh6",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/collisions/mesh_0/sphere",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh3",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh5",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh6",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh4",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh7",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh8",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh9",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/collisions/mesh_0/sphere",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/screen/visuals/mesh_0/box",
+      "rigid_body"
+     ]
+    ]
+   },
+   "material_library": {
+    "root": "/scratch/xc536/magicsim_atomic/MagicSim/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": 2053,
+   "seeds": {
+    "0": 2053
+   },
+   "lights": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
+     "type": "RectLight",
+     "intensity": 19347.302477,
+     "intensity_base": 15000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 7392.545169,
+     "rotate_deg": [
+      -4.208,
+      2.375,
+      3.399
+     ]
+    }
+   ],
+   "domes": [
+    {
+     "path": "/World/background",
+     "type": "DomeLight",
+     "intensity": 1350.150654,
+     "intensity_base": 1000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 4072.225419,
+     "rotate_deg": [
+      0.0,
+      0.0,
+      180.005
+     ],
+     "dome": {
+      "path": "/World/background",
+      "hdr_base": null,
+      "hdr": "/scratch/xc536/magicsim_atomic/MagicSim/Assets/Background/moonlit_golf_4k.hdr",
+      "color": [
+       0.808095,
+       0.809285,
+       0.709665
+      ]
+     }
+    }
+   ],
+   "materials": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "shader": "omnipbr",
+     "color": [
+      0.8554,
+      0.768,
+      0.9417
+     ],
+     "color_base": [
+      1.0,
+      1.0,
+      1.0
+     ],
+     "roughness": 0.469699,
+     "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/Ceramic/Ceramic_Tiles_Glazed_Subway.mdl",
+     "material": "/MmbVdrLooks/Source_Ceramic_Ceramic_Tiles_Glazed_Subway",
+     "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/Terrazzo.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Terrazzo",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Stone/Serizzo_Gneis.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Serizzo_Gneis",
+     "bound_prims": 22,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
+     "role": "wall",
+     "mdl": "Source/Concrete/Concrete_Polished.mdl",
+     "material": "/MmbVdrLooks/Source_Concrete_Concrete_Polished",
+     "bound_prims": 10,
+     "pool_size": 28,
+     "bind_failed": 0
+    }
+   ],
+   "skipped": {
+    "unsupported_shader": 1,
+    "protected_material": 0,
+    "error": 0,
+    "instance_proxy": 0,
+    "no_swap": 2,
+    "bind_failed": 0
+   },
+   "keep_hits": {
+    "marker": 1,
+    "ring": 12
+   },
+   "physics_skip": {
+    "physics_binding": 24,
+    "rigid_body": 95,
+    "examples": [
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/base_link_visuals_mesh_1/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_2/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_3/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_4/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_5/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_6/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals/mesh_7/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collisions_mesh_1/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/front_laser/visuals/front_laser_visuals/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/front_laser/collisions/mesh_0/box",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/rear_laser/visuals/rear_laser_visuals/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/rear_laser/collisions/mesh_0/box",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/visuals/right_arm_base_link_visuals_mesh_0/World/mesh/mesh1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_arm_base_link/collisions/mesh_0/cylinder",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh3",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh4",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh5",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/visuals/right_l0_visuals_mesh_0/World/mesh/mesh6",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/right_l0/collisions/mesh_0/sphere",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh3",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh5",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh6",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh4",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh7",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh8",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/visuals/head_visuals_mesh_0/World/mesh/mesh9",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/head/collisions/mesh_0/sphere",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/screen/visuals/mesh_0/box",
+      "rigid_body"
+     ]
+    ]
+   },
+   "material_library": {
+    "root": "/scratch/xc536/magicsim_atomic/MagicSim/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
+    }
+   ]
+  }
+ ]
+}