add N052/go2_arm/dr_on/seed_2135

N052/go2_arm/dr_on/seed_2135/rec/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1101 rows vs ceil(2201/2) = 1101"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 61..2261, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "13.99 MB, 1101 frames at 25 fps, mean luma 45..121, std 48, new picture 1100x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1101 vs 1101"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "18.71 MB, 1101 frames at 25 fps, mean luma 91..134, std 31, new picture 1100x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1101 vs 1101"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "memorystage/000/sim_info"
+  }
+ }
+}

N052/go2_arm/dr_on/seed_2135/rec/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/sz850_atomic/n052_go2_on_2135/out/rec  task=N052  at verify_collect_dataset.py
+dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2135/out/rec/memorystage/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1101  videos 2  robot_type Go2PlusCfg
+[PASS] codebase v2.1: v2.1
+[PASS] dataset fps = 25: info.fps 25
+(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only)
+[PASS] parquet episodes: 1 files, info.total_episodes=1
+--- episode file episode_000000.parquet: 1101 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']
+[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']
+[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'
+rows 1101 at dataset fps 25 = 44.04 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1101 rows vs ceil(2201/2) = 1101
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2261, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 13.99 MB, 1101 frames at 25 fps, mean luma 45..121, std 48, new picture 1100x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1101 vs 1101
+[PASS] video observation.images.wrist decodes, 640x480, not black: 18.71 MB, 1101 frames at 25 fps, mean luma 91..134, std 31, new picture 1100x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1101 vs 1101
+parquet size 2.98 MB
+[PASS] sim_info present: memorystage/000/sim_info
+dataset size 36.00 MB; whole cell dir 37.2 MB
+RESULT: ALL PASS

N052/go2_arm/dr_on/seed_2135/rec/memorystage/000/completed/0.json

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

N052/go2_arm/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ffe08dacdcba42402fe728552d5f240f063d2509f1158ceb73e599bee2872b2
+size 2978754

N052/go2_arm/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1101, "magicsim/control_steps": 2201, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, at table height."}

N052/go2_arm/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json

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+{
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+     "noun": "Unitree Go2 EDU quadruped with a Piper arm",
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+   },
+   "effects": [],
+   "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n[delivery]t booth r]\n[item blue]b]ble a]]\n   [st[st booth l]\n\n\n\n\n\n                        [robot]"
+  },
+  "task": {
+   "task_type": "MemoryStage",
+   "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Memorystage the 1.5707963267948966.",
+   "task_id": "N052",
+   "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
+}

N052/go2_arm/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/info.json

@@ -0,0 +1,354 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "Go2PlusCfg",
+    "total_episodes": 1,
+    "total_frames": 1101,
+    "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": [
+                12
+            ],
+            "names": [
+                "base_action_0",
+                "base_action_1",
+                "base_action_2",
+                "base_action_3",
+                "eef0.pos_x",
+                "eef0.pos_y",
+                "eef0.pos_z",
+                "eef0.quat_w",
+                "eef0.quat_x",
+                "eef0.quat_y",
+                "eef0.quat_z",
+                "gripper"
+            ]
+        },
+        "action_is_hold": {
+            "dtype": "bool",
+            "shape": [
+                12
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                26
+            ],
+            "names": [
+                "joint_0",
+                "joint_1",
+                "joint_2",
+                "joint_3",
+                "joint_4",
+                "joint_5",
+                "joint_6",
+                "joint_7",
+                "joint_8",
+                "joint_9",
+                "joint_10",
+                "joint_11",
+                "joint_12",
+                "joint_13",
+                "joint_14",
+                "joint_15",
+                "joint_16",
+                "joint_17",
+                "joint_18",
+                "joint_19",
+                "joint_20",
+                "joint_21",
+                "joint_22",
+                "joint_23",
+                "gripper_0",
+                "gripper_1"
+            ]
+        },
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+            "dtype": "float32",
+            "shape": [
+                20
+            ],
+            "names": [
+                "go2_FL_hip_joint",
+                "go2_FR_hip_joint",
+                "go2_RL_hip_joint",
+                "go2_RR_hip_joint",
+                "piper_joint1",
+                "go2_FL_thigh_joint",
+                "go2_FR_thigh_joint",
+                "go2_RL_thigh_joint",
+                "go2_RR_thigh_joint",
+                "piper_joint2",
+                "go2_FL_calf_joint",
+                "go2_FR_calf_joint",
+                "go2_RL_calf_joint",
+                "go2_RR_calf_joint",
+                "piper_joint3",
+                "piper_joint4",
+                "piper_joint5",
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+                "piper_joint7",
+                "piper_joint8"
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+                "articulation_joint_pos.weigher.1",
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+                "object_pose.delivery.2",
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+                "object_pose.item_red.5",
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+                "object_pose.st_wall_bottom.0",
+                "object_pose.st_wall_bottom.1",
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+                "object_pose.st_wall_bottom.4",
+                "object_pose.st_wall_bottom.5",
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+                "object_pose.st_wall_r.1",
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+                "object_pose.st_wall_top.1",
+                "object_pose.st_wall_top.2",
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+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
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+                "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"
+            ],
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+                "video.fps": 25,
+                "video.codec": "libsvtav1",
+                "video.pix_fmt": "yuv420p",
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+                "video.channels": 3,
+                "has_audio": false
+            }
+        }
+    }
+}

N052/go2_arm/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,290 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-07 21:41:47"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "Go2Plus",
+                "cfg": "Go2PlusCfg",
+                "type": "mobilemanip",
+                "joint_names": [
+                    "go2_FL_hip_joint",
+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
+                ]
+            }
+        ]
+    },
+    "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": 12,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
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+                "start": 0,
+                "end": 4,
+                "names": [
+                    "base_action_0",
+                    "base_action_1",
+                    "base_action_2",
+                    "base_action_3"
+                ],
+                "source": "Go2UnifiedLocomotionAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "Go2Plus.arm_action",
+                "start": 4,
+                "end": 11,
+                "names": [
+                    "eef0.pos_x",
+                    "eef0.pos_y",
+                    "eef0.pos_z",
+                    "eef0.quat_w",
+                    "eef0.quat_x",
+                    "eef0.quat_y",
+                    "eef0.quat_z"
+                ],
+                "source": "Go2PlusCuroboIKAction",
+                "names_source": "pose_layout"
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+                "name": "Go2Plus.eef_action",
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+                "end": 12,
+                "names": [
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+                "names": [
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+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
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+                    "piper_joint1",
+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
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+                "source": "ObservationManager",
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+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
+    },
+    "cameras": {
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+        "columns": [
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+            "observation.eef_pose",
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+            "timestamp"
+        ]
+    },
+    "generated_run": {
+        "run_id": "memorystage/000",
+        "task_type": "MemoryStage"
+    }
+}

N052/go2_arm/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."}

N052/go2_arm/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

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N052/go2_arm/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

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N052/go2_arm/dr_on/seed_2135/rec/memorystage/000/run_meta.json

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+{
+    "run_id": "memorystage/000",
+    "created": "2026-11-07 21:23:42",
+    "num_envs": 1,
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+    "record_config": {
+        "output_dir": "/mnt/scratch/sz850_atomic/n052_go2_on_2135/out/rec",
+        "formats": [
+            "lerobot_v21",
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N052/go2_arm/dr_on/seed_2135/rec/memorystage/000/sim_info/0/sim_states.npz

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N052/go2_arm/dr_on/seed_2135/rec/memorystage/000/sim_info/magicsim_manifest.json

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+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
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+}

N052/go2_arm/dr_on/seed_2135/rec/memorystage/000/visual_dr.json

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+}

N052/go2_arm/dr_on/seed_2135/report.json

@@ -0,0 +1,1239 @@
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