add N034/stretch3/dr_on/seed_2004

N034/stretch3/dr_on/seed_2004/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "3219 rows vs ceil(6438/2) = 3219"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 101..6537, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "116.00 MB, 3219 frames at 25 fps, mean luma 67..98, std 9, new picture 3218x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "3219 vs 3219"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "83.22 MB, 3219 frames at 25 fps, mean luma 52..144, std 32, new picture 3218x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "3219 vs 3219"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "rec/stationbookendstretch/000/sim_info"
+  }
+ }
+}

N034/stretch3/dr_on/seed_2004/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n034_str_on_2004/out  task=N034  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n034_str_on_2004/out/rec/stationbookendstretch/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 3219  videos 2  robot_type HelloRobotCfg
+[PASS] codebase v2.1: v2.1
+[PASS] dataset fps = 25: info.fps 25
+(no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only)
+[PASS] parquet episodes: 1 files, info.total_episodes=1
+--- episode file episode_000000.parquet: 3219 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']
+[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']
+[PASS] task text = MobileBench instruction: task_index 0: 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'; expected 'Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.'
+rows 3219 at dataset fps 25 = 128.76 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3219 rows vs ceil(6438/2) = 3219
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..6537, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 116.00 MB, 3219 frames at 25 fps, mean luma 67..98, std 9, new picture 3218x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 3219 vs 3219
+[PASS] video observation.images.wrist decodes, 640x480, not black: 83.22 MB, 3219 frames at 25 fps, mean luma 52..144, std 32, new picture 3218x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 3219 vs 3219
+parquet size 3.78 MB
+[PASS] sim_info present: rec/stationbookendstretch/000/sim_info
+dataset size 203.22 MB; whole cell dir 205.0 MB
+RESULT: ALL PASS

N034/stretch3/dr_on/seed_2004/rec/stationbookendstretch/000/completed/0.json

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

N034/stretch3/dr_on/seed_2004/rec/stationbookendstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60fa3831b7dce80f96751aaaeebde73d707e63a8689289f33895924f6f82382f
+size 3780571

N034/stretch3/dr_on/seed_2004/rec/stationbookendstretch/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it."], "length": 3219, "magicsim/control_steps": 6438, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, slightly above table height."}

N034/stretch3/dr_on/seed_2004/rec/stationbookendstretch/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
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N034/stretch3/dr_on/seed_2004/rec/stationbookendstretch/000/lerobot_v21/meta/extra/episode_000000.json

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+    "time_of_day": null,
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+   "effects": [],
+   "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the brown slot left. There are a large gray table A, a large gray table B, a small brown slot left, a small brown slot right, a small red book, a small gray plate and a small bookend. The gray table A is to the left of the brown slot right. The gray table B is to the left of the bookend. The red book is on top of the brown slot left. The gray plate is to the left of the bookend. The bookend is to the right of the gray plate. The scene is viewed from front, slightly above table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n[t[p[bookend]\n\n\n\n                   [slot [book]\n\n\n\n             [robot]"
+  },
+  "task": {
+   "task_type": "StationBookendStretch",
+   "instruction": "Find the red book on the shelf, carry it to the other table, stand it up next to the plate, and push the bookend against it.",
+   "template_id": -1,
+   "slots": {
+    "obj": 3.107740998704984,
+    "support": null
+   },
+   "generic_instruction": "Stationbookendstretch the 3.107740998704984.",
+   "task_id": "N034",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {}
+ },
+ "depth_range": [
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+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N034/stretch3/dr_on/seed_2004/rec/stationbookendstretch/000/lerobot_v21/meta/info.json

@@ -0,0 +1,298 @@
+{
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+    "fps": 25,
+    "splits": {
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+    "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": {
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+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
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+                "arm_action_1",
+                "arm_action_2",
+                "arm_action_3",
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+                "joint_head_tilt",
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N034/stretch3/dr_on/seed_2004/rec/stationbookendstretch/000/lerobot_v21/meta/magicsim_manifest.json

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N034/stretch3/dr_on/seed_2004/rec/stationbookendstretch/000/lerobot_v21/meta/tasks.jsonl

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N034/stretch3/dr_on/seed_2004/rec/stationbookendstretch/000/sim_info/0/actions.npz

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+                "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": [
+                    [
+                        811.3606627541883,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        811.3606388722814,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 43.048473468183616,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.04977099969983101,
+                -0.002942000050097704,
+                1.2957229614257812
+            ],
+            "quat": [
+                -0.6254264116287231,
+                -0.3299117982387543,
+                0.32990962266921997,
+                0.6254276037216187
+            ]
+        },
+        "wrist": {
+            "intrinsics": {
+                "K": [
+                    [
+                        426.91786449658065,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
+                        426.9178503597538,
+                        240.0
+                    ],
+                    [
+                        0.0,
+                        0.0,
+                        1.0
+                    ]
+                ],
+                "fov_h_deg": 73.70742419505024,
+                "resolution": [
+                    640,
+                    480
+                ]
+            },
+            "pos": [
+                0.008999999612569809,
+                0.06293900310993195,
+                0.056398000568151474
+            ],
+            "quat": [
+                -1.5083966786733072e-07,
+                1.7244702803509426e-06,
+                0.9961962699890137,
+                0.08713743835687637
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "stationbookendstretch/000",
+        "task_type": "BookendStretchCommand"
+    }
+}

N034/stretch3/dr_on/seed_2004/rec/stationbookendstretch/000/visual_dr.json

@@ -0,0 +1,677 @@
+{
+ "version": 1,
+ "settings": {
+  "enabled": false,
+  "keep": [
+   "book",
+   "book_other",
+   "bookend"
+  ],
+  "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": 2004,
+   "seeds": {
+    "0": 2004
+   },
+   "lights": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
+     "type": "RectLight",
+     "intensity": 12269.955544,
+     "intensity_base": 15000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 5376.693268,
+     "rotate_deg": [
+      4.065,
+      1.274,
+      0.715
+     ]
+    }
+   ],
+   "domes": [
+    {
+     "path": "/World/background",
+     "type": "DomeLight",
+     "intensity": 1275.539035,
+     "intensity_base": 1000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 5213.050984,
+     "rotate_deg": [
+      0.0,
+      0.0,
+      309.047
+     ],
+     "dome": {
+      "path": "/World/background",
+      "hdr_base": null,
+      "color": [
+       0.798575,
+       0.72913,
+       0.70193
+      ]
+     }
+    }
+   ],
+   "materials": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "shader": "omnipbr",
+     "color": [
+      0.8576,
+      0.8242,
+      0.8439
+     ],
+     "color_base": [
+      1.0,
+      1.0,
+      1.0
+     ],
+     "roughness": 0.480756,
+     "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/Stone/Basaltite.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Basaltite",
+     "bound_prims": 1,
+     "pool_size": 42,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic",
+     "role": "wall",
+     "mdl": "Source/Paint/Paint_Gun_Metal.mdl",
+     "material": "/MmbVdrLooks/Source_Paint_Paint_Gun_Metal",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Masonry/Facade_Brick_Grey.mdl",
+     "material": "/MmbVdrLooks/Source_Masonry_Facade_Brick_Grey",
+     "bound_prims": 22,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
+     "role": "wall",
+     "mdl": "Source/Stone/Stone_Mediterranean.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Stone_Mediterranean",
+     "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": {
+    "book": 1,
+    "book_other": 0,
+    "bookend": 2
+   },
+   "physics_skip": {
+    "physics_binding": 8,
+    "rigid_body": 113,
+    "examples": [
+     [
+      "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g3",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g4",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g5",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g6",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g7",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g8",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/caster_link/visuals/omni_wheel_m/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/caster_link/collisions/mesh_0/sphere",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_aruco_left_base/collisions/link_aruco_left_base/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_aruco_left_base/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_aruco_right_base/collisions/link_aruco_right_base/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_aruco_right_base/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_imu/collisions/base_imu/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/laser/collisions/laser_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/laser/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_left_wheel/collisions/link_left_wheel_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_left_wheel/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_left_wheel/visuals_menagerie/g2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_mast/collisions/link_mast_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_mast/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/collisions/link_head_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g3",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g4",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g5",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g6",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g7",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g8",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g9",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g10",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g11",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g12",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head_pan/collisions/link_head_pan_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head_pan/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head_pan/visuals_menagerie/g2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head_tilt/collisions/link_head_tilt_collision/node_STL_BINARY_/mesh",
+      "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": 2004,
+   "seeds": {
+    "0": 2004
+   },
+   "lights": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/RectLight",
+     "type": "RectLight",
+     "intensity": 12269.955544,
+     "intensity_base": 15000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 5376.693268,
+     "rotate_deg": [
+      4.065,
+      1.274,
+      0.715
+     ]
+    }
+   ],
+   "domes": [
+    {
+     "path": "/World/background",
+     "type": "DomeLight",
+     "intensity": 1275.539035,
+     "intensity_base": 1000.0,
+     "enable_color_temperature": true,
+     "color_temperature_k": 5213.050984,
+     "rotate_deg": [
+      0.0,
+      0.0,
+      309.047
+     ],
+     "dome": {
+      "path": "/World/background",
+      "hdr_base": null,
+      "color": [
+       0.798575,
+       0.72913,
+       0.70193
+      ]
+     }
+    }
+   ],
+   "materials": [
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/Light",
+     "shader": "omnipbr",
+     "color": [
+      0.8576,
+      0.8242,
+      0.8439
+     ],
+     "color_base": [
+      1.0,
+      1.0,
+      1.0
+     ],
+     "roughness": 0.480756,
+     "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/Stone/Basaltite.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Basaltite",
+     "bound_prims": 1,
+     "pool_size": 42,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic",
+     "role": "wall",
+     "mdl": "Source/Paint/Paint_Gun_Metal.mdl",
+     "material": "/MmbVdrLooks/Source_Paint_Paint_Gun_Metal",
+     "bound_prims": 17,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WhitePlastic2",
+     "role": "wall",
+     "mdl": "Source/Masonry/Facade_Brick_Grey.mdl",
+     "material": "/MmbVdrLooks/Source_Masonry_Facade_Brick_Grey",
+     "bound_prims": 22,
+     "pool_size": 28,
+     "bind_failed": 0
+    },
+    {
+     "path": "/World/envs/env_0/Terrain/room/simple_room/Looks/WoodWall",
+     "role": "wall",
+     "mdl": "Source/Stone/Stone_Mediterranean.mdl",
+     "material": "/MmbVdrLooks/Source_Stone_Stone_Mediterranean",
+     "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": {
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+    "bookend": 2
+   },
+   "physics_skip": {
+    "physics_binding": 8,
+    "rigid_body": 113,
+    "examples": [
+     [
+      "/World/envs/env_0/Robot_0/base_link/collisions/base_link_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g3",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g4",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g5",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g6",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g7",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_link/visuals_menagerie/g8",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/caster_link/visuals/omni_wheel_m/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/caster_link/collisions/mesh_0/sphere",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_aruco_left_base/collisions/link_aruco_left_base/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_aruco_left_base/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_aruco_right_base/collisions/link_aruco_right_base/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_aruco_right_base/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/base_imu/collisions/base_imu/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/laser/collisions/laser_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/laser/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_left_wheel/collisions/link_left_wheel_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_left_wheel/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_left_wheel/visuals_menagerie/g2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_mast/collisions/link_mast_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_mast/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/collisions/link_head_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g3",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g4",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g5",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g6",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g7",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g8",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g9",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g10",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g11",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head/visuals_menagerie/g12",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head_pan/collisions/link_head_pan_collision/node_STL_BINARY_/mesh",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head_pan/visuals_menagerie/g1",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head_pan/visuals_menagerie/g2",
+      "rigid_body"
+     ],
+     [
+      "/World/envs/env_0/Robot_0/link_head_tilt/collisions/link_head_tilt_collision/node_STL_BINARY_/mesh",
+      "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
+    }
+   ]
+  }
+ ]
+}

N034/stretch3/dr_on/seed_2004/report.episodes.jsonl

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N034/stretch3/dr_on/seed_2004/report.json

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+        "horizontal_aperture": 1.9199999570846558,
+        "vertical_aperture": 1.44
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+    },
+    "resolution": [
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+      480
+    ],
+    "camera_hz": 25,
+    "record": {
+      "formats": [
+        "lerobot_v21",
+        "sim_info"
+      ],
+      "clear_buffer_on_failure": true,
+      "lerobot": {
+        "subsample_every": 2
+      }
+    }
+  },
+  "review_cameras": [],
+  "policy_obs_signature": [
+    "/camera_info[0]/rgb[0]:(480, 640, 4):uint8",
+    "/camera_info[1]/rgb[0]:(480, 640, 4):uint8",
+    "/robot_state[0]/HelloRobot/base_ang_vel:(1, 3):torch.float32",
+    "/robot_state[0]/HelloRobot/base_lin_vel:(1, 3):torch.float32",
+    "/robot_state[0]/HelloRobot/base_pos:(1, 3):torch.float32",
+    "/robot_state[0]/HelloRobot/base_quat:(1, 4):torch.float32",
+    "/robot_state[0]/HelloRobot/eef_pos:(1, 3):torch.float32",
+    "/robot_state[0]/HelloRobot/eef_quat:(1, 4):torch.float32",
+    "/robot_state[0]/HelloRobot/eef_relative_pos:(1, 3):torch.float32",
+    "/robot_state[0]/HelloRobot/eef_relative_quat:(1, 4):torch.float32",
+    "/robot_state[0]/HelloRobot/joint_effort:(1, 15):torch.float32",
+    "/robot_state[0]/HelloRobot/joint_pos:(1, 15):torch.float32",
+    "/robot_state[0]/HelloRobot/joint_vel:(1, 15):torch.float32"
+  ],
+  "n_success": 1,
+  "elapsed_s": 1530.8,
+  "record_drain": {
+    "drain_ok": true,
+    "committed": 1,
+    "save_errors": {},
+    "drain_s": 40.5
+  }
+}