add 3 staged episodes

N025/go2_arm/dr_off/seed_1046/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "1830 rows vs ceil(3659/2) = 1830"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 31..3689, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "18.02 MB, 1830 frames at 25 fps, mean luma 111..142, std 23, new picture 1829x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1830 vs 1830"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "29.69 MB, 1830 frames at 25 fps, mean luma 111..171, std 31, new picture 1829x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1830 vs 1830"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "stationassembly/000/sim_info"
+  }
+ }
+}

N025/go2_arm/dr_off/seed_1046/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n025_go2_off_1046/out  task=N025  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n025_go2_off_1046/out/stationassembly/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1830  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: 1830 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']
+[PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']
+[PASS] task text = MobileBench instruction: task_index 0: 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'; expected 'Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.'
+rows 1830 at dataset fps 25 = 73.20 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1830 rows vs ceil(3659/2) = 1830
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 31..3689, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 18.02 MB, 1830 frames at 25 fps, mean luma 111..142, std 23, new picture 1829x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1830 vs 1830
+[PASS] video observation.images.wrist decodes, 640x480, not black: 29.69 MB, 1830 frames at 25 fps, mean luma 111..171, std 31, new picture 1829x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1830 vs 1830
+parquet size 18.57 MB
+[PASS] sim_info present: stationassembly/000/sim_info
+dataset size 66.53 MB; whole cell dir 68.1 MB
+RESULT: ALL PASS

N025/go2_arm/dr_off/seed_1046/report.json

@@ -0,0 +1,2244 @@
+{
+  "task": "N025",
+  "agent_id": null,
+  "embodiment": "go2_arm",
+  "level": "easy",
+  "scene_seed": 1046,
+  "execution_mode": "headless_collect_chain(StationAssembly->NavToPose/ReachStance/AssemblyGrasp/CarryPose/AssemblyInsert->NavTo+MobileMoveL+AssemblyServoL->cuRobo)",
+  "config": "/mnt/scratch/xc536_atomic_local/repo_eb439a44f/src/magicsim/Collect/Task/MobileAssembly/Conf/n025_wedge_shim.yaml",
+  "full_success": true,
+  "failure_reason": null,
+  "dr": {
+    "seed": 1046,
+    "wedge": {
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+      "dy": 0.01279,
+      "yaw_deg": 2.0937
+    },
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+      "env.scene.background.intensity": [
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+  "planner_seeds": {
+    "label": "lean",
+    "num_trajopt_seeds": 1,
+    "num_ik_seeds": 4,
+    "max_attempts": 6
+  },
+  "collect": {
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+      "MMB_TASK_ID": "N025",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "0"
+    },
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+        "sim_info"
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+      "clear_buffer_on_failure": true,
+      "lerobot": {
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+  "steps": 3689,
+  "task_id": "N025",
+  "task_version": "EXT60-MobileAvatar-v3",
+  "family_id": "wedge_support",
+  "primary_category": "C4",
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N025/go2_arm/dr_off/seed_1046/stationassembly/000/completed/0.json

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N025/go2_arm/dr_off/seed_1046/stationassembly/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,595 @@
+{
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+     "relation": "right_of",
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+     "relation": "on_top_of",
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+     "object": "table_A_1"
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+     "relation": "behind",
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+     "model": "go2plus",
+     "type": "mobilemanip",
+     "noun": "Unitree Go2 EDU quadruped with a Piper arm",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
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+   "lighting": [],
+   "background": {
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+    "type": "dome",
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+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 884.05686,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the gray table B. There are a large gray table A, a large gray table B, a medium shim board and a small wedge. The gray table A is in front of the wedge. The gray table B is to the right of the shim board. The shim board is on top of the gray table B. The shim board is to the left of the gray table B. The wedge is on top of the gray table A. The wedge is behind the gray table A. The scene is viewed from front-right, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                   [shim board]\n\n\n[wedge]A]\n\n\n\n\n [robot]"
+  },
+  "task": {
+   "task_type": "StationAssembly",
+   "instruction": "Go to the table, pick up the wedge, carry it to the board, and push the wedge under its low side until the board is level.",
+   "template_id": -1,
+   "slots": {
+    "obj": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Stationassembly the 1.5707963267948966.",
+   "task_id": "N025",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {
+   "frame_0559": {
+    "frame_idx": 559,
+    "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_0585": {
+    "frame_idx": 585,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
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+   },
+   "frame_1147": {
+    "frame_idx": 1147,
+    "caption": "Computing a grasp pose for the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "ReachStance",
+    "phase": "verify",
+    "skill_state": "computing",
+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
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+   },
+   "frame_1220": {
+    "frame_idx": 1220,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
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+   "frame_1239": {
+    "frame_idx": 1239,
+    "caption": "Working on the small wedge; the right gripper is below and in front of the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
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+   "frame_1256": {
+    "frame_idx": 1256,
+    "caption": "Working on the small wedge; the right gripper is below the wedge.",
+    "skill": "AssemblyGrasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
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+   },
+   "frame_1672": {
+    "frame_idx": 1672,
+    "caption": "Done — the small wedge is grasped; the right gripper is below the wedge.",
+    "skill": "Grasp",
+    "phase": "completed",
+    "skill_state": "finished",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "wedge_1",
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+   "frame_1673": {
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+    "caption": "Working on the small wedge; the right gripper is below the wedge.",
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+    "caption": "Working on the small wedge; the right gripper is below and to the left of and in front of the wedge.",
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+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
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+     "in_front_of"
+    ]
+   },
+   "frame_2468": {
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+    "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "NavTo",
+    "planner_state": "finished",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_2484": {
+    "frame_idx": 2484,
+    "caption": "Working on the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_3004": {
+    "frame_idx": 3004,
+    "caption": "Working on the medium shim board; the right gripper is below and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_3005": {
+    "frame_idx": 3005,
+    "caption": "Working on the medium shim board; the right gripper is below and to the left of and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
+     "in_front_of"
+    ]
+   },
+   "frame_3015": {
+    "frame_idx": 3015,
+    "caption": "Working on the medium shim board; the right gripper is below and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "in_front_of"
+    ]
+   },
+   "frame_3199": {
+    "frame_idx": 3199,
+    "caption": "Computing a grasp pose for the medium shim board; the right gripper is below and in front of the shim board.",
+    "skill": "ReachStance",
+    "phase": "verify",
+    "skill_state": "computing",
+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "shim_board_1",
+    "hand_id": 0,
+    "eef_relation": [
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+     "in_front_of"
+    ]
+   },
+   "frame_3263": {
+    "frame_idx": 3263,
+    "caption": "Working on the small wedge; the right gripper is below and to the left of and behind the wedge.",
+    "skill": "AssemblyInsert",
+    "phase": "wp:pre_insert",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "wedge_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below",
+     "left_of",
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+    ]
+   }
+  }
+ },
+ "depth_range": [
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+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N025/go2_arm/dr_off/seed_1046/stationassembly/000/lerobot_v21/meta/info.json

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+{
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+                "eef0.pos_y",
+                "eef0.pos_z",
+                "eef0.quat_w",
+                "eef0.quat_x",
+                "eef0.quat_y",
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+                "joint_5",
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+                "joint_7",
+                "joint_8",
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+                "articulation_pose.shim_board.4",
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+}

N025/go2_arm/dr_off/seed_1046/stationassembly/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,290 @@
+{
+    "schema_version": 1,
+    "generated": {
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+    },
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+                "cfg": "Go2PlusCfg",
+                "type": "mobilemanip",
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+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
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N025/go2_arm/dr_off/seed_1046/stationassembly/000/lerobot_v21/meta/tasks.jsonl

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N025/go2_arm/dr_off/seed_1046/stationassembly/000/run_meta.json

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N025/go2_arm/dr_off/seed_1046/stationassembly/000/sim_info/0/actions.npz

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+        "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)"
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N025/go2_arm/dr_off/seed_1046/stationassembly/000/sim_info/0/sim_states.npz

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N025/go2_arm/dr_off/seed_1046/stationassembly/000/sim_info/magicsim_manifest.json

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+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
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+}

N034/go2_arm/dr_off/seed_1042/check.json

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+{
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+   "detail": "v2.1"
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+   "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']"
+  },
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+  },
+  "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": "1953 rows vs ceil(3906/2) = 1953"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 101..4005, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "20.95 MB, 1953 frames at 25 fps, mean luma 90..144, std 21, new picture 1952x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1953 vs 1953"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "30.90 MB, 1953 frames at 25 fps, mean luma 92..165, std 26, new picture 1952x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1953 vs 1953"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "rec/stationbookend/000/sim_info"
+  }
+ }
+}

N034/go2_arm/dr_off/seed_1042/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n034_go2_off_1042/out  task=N034  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n034_go2_off_1042/out/rec/stationbookend/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1953  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: 1953 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: '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 1953 at dataset fps 25 = 78.12 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1953 rows vs ceil(3906/2) = 1953
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4005, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 20.95 MB, 1953 frames at 25 fps, mean luma 90..144, std 21, new picture 1952x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1953 vs 1953
+[PASS] video observation.images.wrist decodes, 640x480, not black: 30.90 MB, 1953 frames at 25 fps, mean luma 92..165, std 26, new picture 1952x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1953 vs 1953
+parquet size 7.43 MB
+[PASS] sim_info present: rec/stationbookend/000/sim_info
+dataset size 59.56 MB; whole cell dir 61.4 MB
+RESULT: ALL PASS

N034/go2_arm/dr_off/seed_1042/rec/stationbookend/000/completed/0.json

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

N034/go2_arm/dr_off/seed_1042/rec/stationbookend/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e69b649224864492c5d12deebdc42cd635bf0576867700237e8faa20ff13656
+size 7433333

N034/go2_arm/dr_off/seed_1042/rec/stationbookend/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": 1953, "magicsim/control_steps": 3906, "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 brown slot right. 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 left. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. 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, at table height."}

N034/go2_arm/dr_off/seed_1042/rec/stationbookend/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
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N034/go2_arm/dr_off/seed_1042/rec/stationbookend/000/lerobot_v21/meta/extra/episode_000000.json

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+     "model": "go2plus",
+     "type": "mobilemanip",
+     "noun": "Unitree Go2 EDU quadruped with a Piper arm",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
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+    "kind": "background",
+    "type": "dome",
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+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1000.0,
+    "ambient": "dim"
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+   "effects": [],
+   "caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the brown slot right. 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 left. The gray table B is to the left of the bookend. The red book is on top of the brown slot right. 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, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n[t[[bookend]\n\n\n\n                   [slot [book]\n\n\n\n              [robot]"
+  },
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+   "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": {
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+    "support": null
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+   "generic_instruction": "Stationbookend the 1.5389018194792858.",
+   "task_id": "N034",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {
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+    "caption": "Computing a grasp pose for the small red book; the right gripper is below and to the left of and in front of the red book.",
+    "skill": "ReachStance",
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+    "skill_state": "computing",
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+     "left_of",
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+    "caption": "Working on the small red book; the right gripper is below and to the left of and in front of the red book.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
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+    "caption": "Computing a grasp pose for the small red book; the right gripper is below and to the left of and in front of the red book.",
+    "skill": "ReachStance",
+    "phase": "verify",
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+     "in_front_of"
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+   "frame_0889": {
+    "frame_idx": 889,
+    "caption": "Pre-grasping the small red book, servoing the arm toward it; the right gripper is below and to the left of and in front of the red book.",
+    "skill": "Grasp",
+    "phase": "pre_grasp",
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+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "book_1",
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+     "left_of",
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+    "caption": "Pre-grasping the small red book, moving the arm toward it; the right gripper is below and to the left of and in front of the red book.",
+    "skill": "Grasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "book_1",
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+    "frame_idx": 930,
+    "caption": "Pre-grasping the small red book, moving the arm toward it; the right gripper is below and to the left of the red book.",
+    "skill": "Grasp",
+    "phase": "pre_grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
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+    "eef_relation": [
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+     "left_of"
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+   "frame_0943": {
+    "frame_idx": 943,
+    "caption": "Grasping the small red book, moving the arm in to make contact; the right gripper is below and to the left of the red book.",
+    "skill": "Grasp",
+    "phase": "grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
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+   "frame_0963": {
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+    "caption": "Grasping the small red book, moving the arm in to make contact; the right gripper is below the red book.",
+    "skill": "Grasp",
+    "phase": "grasp",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "running",
+    "target": "book_1",
+    "hand_id": 0,
+    "eef_relation": [
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+   "frame_1005": {
+    "frame_idx": 1005,
+    "caption": "Closing the right gripper on the red book; the right gripper is below the red book.",
+    "skill": "Grasp",
+    "phase": "close_gripper",
+    "skill_state": "running",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "book_1",
+    "hand_id": 0,
+    "eef_relation": [
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+   },
+   "frame_1065": {
+    "frame_idx": 1065,
+    "caption": "Lifting the red book away with the gripper; the right gripper is below the red book.",
+    "skill": "Grasp",
+    "phase": "retrieval",
+    "skill_state": "running",
+    "planner": "ParallelGripper",
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+   "frame_1066": {
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+    "caption": "Lifting the red book away with the arm; the right gripper is below the red book.",
+    "skill": "Grasp",
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+    "planner": "MobileMoveL",
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+    "eef_relation": [
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+   "frame_1128": {
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+    "caption": "Done — the small red book is grasped; the right gripper is below the red book.",
+    "skill": "Grasp",
+    "phase": "completed",
+    "skill_state": "finished",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "book_1",
+    "hand_id": 0,
+    "eef_relation": [
+     "below"
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+   },
+   "frame_3135": {
+    "frame_idx": 3135,
+    "caption": "Computing a grasp pose for the small bookend; the right gripper is below and to the left of the bookend.",
+    "skill": "ReachStance",
+    "phase": "search",
+    "skill_state": "computing",
+    "planner": "MobileMoveL",
+    "planner_state": "finished",
+    "target": "bookend_1",
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+    "eef_relation": [
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+     "left_of"
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+   },
+   "frame_3160": {
+    "frame_idx": 3160,
+    "caption": "Working on the small bookend; the right gripper is below and to the left of the bookend.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "bookend_1",
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+    "eef_relation": [
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+     "left_of"
+    ]
+   },
+   "frame_3245": {
+    "frame_idx": 3245,
+    "caption": "Working on the small bookend; the right gripper is below and to the left of and behind the bookend.",
+    "skill": "ReachStance",
+    "phase": "walk",
+    "skill_state": "running",
+    "planner": "MobileServoL",
+    "planner_state": "running",
+    "target": "bookend_1",
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+   "frame_3422": {
+    "frame_idx": 3422,
+    "caption": "Computing a grasp pose for the small bookend; the right gripper is below and to the left of and behind the bookend.",
+    "skill": "ReachStance",
+    "phase": "verify",
+    "skill_state": "computing",
+    "planner": "MobileServoL",
+    "planner_state": "finished",
+    "target": "bookend_1",
+    "hand_id": 0,
+    "eef_relation": [
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+     "left_of",
+     "behind"
+    ]
+   }
+  }
+ },
+ "depth_range": [
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+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N034/go2_arm/dr_off/seed_1042/rec/stationbookend/000/lerobot_v21/meta/info.json

@@ -0,0 +1,315 @@
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+            }
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+            }
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+}

N034/go2_arm/dr_off/seed_1042/rec/stationbookend/000/lerobot_v21/meta/magicsim_manifest.json

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+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 06:46:29"
+    },
+    "embodiment": {
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+                "cfg": "Go2PlusCfg",
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+                    "go2_FR_hip_joint",
+                    "go2_RL_hip_joint",
+                    "go2_RR_hip_joint",
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+                    "go2_FL_thigh_joint",
+                    "go2_FR_thigh_joint",
+                    "go2_RL_thigh_joint",
+                    "go2_RR_thigh_joint",
+                    "piper_joint2",
+                    "go2_FL_calf_joint",
+                    "go2_FR_calf_joint",
+                    "go2_RL_calf_joint",
+                    "go2_RR_calf_joint",
+                    "piper_joint3",
+                    "piper_joint4",
+                    "piper_joint5",
+                    "piper_joint6",
+                    "piper_joint7",
+                    "piper_joint8"
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+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
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+                    "piper_joint6",
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+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
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+    "generated_run": {
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+        "task_type": "BookendCommand"
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+}

N034/go2_arm/dr_off/seed_1042/rec/stationbookend/000/lerobot_v21/meta/tasks.jsonl

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+{"task_index": 0, "task": "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."}

N034/go2_arm/dr_off/seed_1042/rec/stationbookend/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

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N034/go2_arm/dr_off/seed_1042/rec/stationbookend/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

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N034/go2_arm/dr_off/seed_1042/rec/stationbookend/000/run_meta.json

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N034/go2_arm/dr_off/seed_1042/rec/stationbookend/000/sim_info/0/actions.npz

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N034/go2_arm/dr_off/seed_1042/rec/stationbookend/000/sim_info/0/sim_states.npz

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+        "time": "2026-11-08 06:46:53"
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+}

N034/go2_arm/dr_off/seed_1042/report.episodes.jsonl

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N034/go2_arm/dr_off/seed_1042/report.json

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+    "robot": "go2_arm",
+    "visual_dr": false,
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+      "MMB_TASK_ID": "N034",
+      "MMB_CLEAN_VIEW": "1",
+      "MMB_REAL_ROBOT_LOOK": "1",
+      "MMB_VISUAL_DR": "0"
+    },
+    "cameras": {
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+      480
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+    "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]/Go2Plus/base_ang_vel:(1, 3):torch.float32",
+    "/robot_state[0]/Go2Plus/base_lin_vel:(1, 3):torch.float32",
+    "/robot_state[0]/Go2Plus/base_pos:(1, 3):torch.float32",
+    "/robot_state[0]/Go2Plus/base_quat:(1, 4):torch.float32",
+    "/robot_state[0]/Go2Plus/eef_pos:(1, 3):torch.float32",
+    "/robot_state[0]/Go2Plus/eef_quat:(1, 4):torch.float32",
+    "/robot_state[0]/Go2Plus/eef_relative_pos:(1, 3):torch.float32",
+    "/robot_state[0]/Go2Plus/eef_relative_quat:(1, 4):torch.float32",
+    "/robot_state[0]/Go2Plus/finger_joint_pos:(1, 2):torch.float32",
+    "/robot_state[0]/Go2Plus/gripper_pos:(1, 2):torch.float32",
+    "/robot_state[0]/Go2Plus/joint_effort:(1, 20):torch.float32",
+    "/robot_state[0]/Go2Plus/joint_pos:(1, 24):torch.float32",
+    "/robot_state[0]/Go2Plus/joint_vel:(1, 20):torch.float32"
+  ],
+  "n_success": 1,
+  "elapsed_s": 1533.6,
+  "record_drain": {
+    "drain_ok": true,
+    "committed": 1,
+    "save_errors": {},
+    "drain_s": 33.9
+  }
+}

N034/sawyer_umi/dr_on/seed_2040/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: '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": "2790 rows vs ceil(5579/2) = 2790"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 101..5679, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "90.95 MB, 2790 frames at 25 fps, mean luma 54..123, std 40, new picture 2789x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "2790 vs 2790"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "78.58 MB, 2790 frames at 25 fps, mean luma 44..134, std 33, new picture 2789x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "2790 vs 2790"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "rec/stationbookendxr/000/sim_info"
+  }
+ }
+}

N034/sawyer_umi/dr_on/seed_2040/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n034_saw_on_2040/out  task=N034  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n034_saw_on_2040/out/rec/stationbookendxr/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 2790  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: 2790 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: '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 2790 at dataset fps 25 = 111.60 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2790 rows vs ceil(5579/2) = 2790
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..5679, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 90.95 MB, 2790 frames at 25 fps, mean luma 54..123, std 40, new picture 2789x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 2790 vs 2790
+[PASS] video observation.images.wrist decodes, 640x480, not black: 78.58 MB, 2790 frames at 25 fps, mean luma 44..134, std 33, new picture 2789x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 2790 vs 2790
+parquet size 2.69 MB
+[PASS] sim_info present: rec/stationbookendxr/000/sim_info
+dataset size 172.41 MB; whole cell dir 173.8 MB
+RESULT: ALL PASS

N034/sawyer_umi/dr_on/seed_2040/rec/stationbookendxr/000/completed/0.json

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

N034/sawyer_umi/dr_on/seed_2040/rec/stationbookendxr/000/lerobot_v21/data/chunk-000/episode_000000.parquet

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+version https://git-lfs.github.com/spec/v1
+oid sha256:f38819f9011d54b22843fb79eba2bceddaa95018c34e09ca23f1812f5b5c3539
+size 2690192

N034/sawyer_umi/dr_on/seed_2040/rec/stationbookendxr/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": 2790, "magicsim/control_steps": 5579, "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 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 on top of the bookend. 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, at table height."}

N034/sawyer_umi/dr_on/seed_2040/rec/stationbookendxr/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
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N034/sawyer_umi/dr_on/seed_2040/rec/stationbookendxr/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,414 @@
+{
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+ "env_id": 0,
+ "task_type": "BookendXRCommand",
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+     "relation": "left_of",
+     "object": "slot_right_1"
+    },
+    {
+     "subject": "table_B_1",
+     "relation": "left_of",
+     "object": "bookend_1"
+    },
+    {
+     "subject": "book_1",
+     "relation": "on_top_of",
+     "object": "slot_left_1"
+    },
+    {
+     "subject": "plate_1",
+     "relation": "on_top_of",
+     "object": "bookend_1"
+    },
+    {
+     "subject": "plate_1",
+     "relation": "left_of",
+     "object": "bookend_1"
+    },
+    {
+     "subject": "bookend_1",
+     "relation": "right_of",
+     "object": "plate_1"
+    }
+   ],
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+    {
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+     "intrinsics": {
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+     "viewpoint": "front, at table height",
+     "extrinsics": {
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+       [
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+    }
+   ],
+   "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": [
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+       -2.2,
+       0.05
+      ],
+      "ori": [
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+       0.0,
+       0.0,
+       0.3420201539993286
+      ]
+     },
+     "facing_yaw_deg": 40.000001288448495,
+     "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 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 on top of the bookend. 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, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n[ta[pl[bookend]\n\n\n\n                   [slot [book]\n\n\n\n        [robot]"
+  },
+  "task": {
+   "task_type": "StationBookendXR",
+   "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": 1.6685955504765557,
+    "support": null
+   },
+   "generic_instruction": "Stationbookendxr the 1.6685955504765557.",
+   "task_id": "N034",
+   "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
+}