add N045/go2_arm/dr_on/seed_6005

N045/go2_arm/dr_on/seed_6005/check.json

@@ -27,27 +27,27 @@
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,
-   "detail": "1046 rows vs ceil(2092/2) = 1046"
+   "detail": "1041 rows vs ceil(2081/2) = 1041"
   },
   "rows are every 2nd control step (sim_step_idx)": {
    "pass": true,
-   "detail": "sim_step_idx 151..2241, step differences [2]"
+   "detail": "sim_step_idx 151..2231, step differences [2]"
   },
   "video observation.images.head decodes, 640x480, not black": {
    "pass": true,
-   "detail": "20.66 MB, 1046 frames at 25 fps, mean luma 82..114, std 37, new picture 1045x = 25.0 per s"
+   "detail": "21.14 MB, 1041 frames at 25 fps, mean luma 81..113, std 36, new picture 1040x = 25.0 per s"
   },
   "video observation.images.head frames = parquet rows": {
    "pass": true,
-   "detail": "1046 vs 1046"
+   "detail": "1041 vs 1041"
   },
   "video observation.images.wrist decodes, 640x480, not black": {
    "pass": true,
-   "detail": "18.41 MB, 1046 frames at 25 fps, mean luma 83..125, std 30, new picture 1045x = 25.0 per s"
+   "detail": "18.43 MB, 1041 frames at 25 fps, mean luma 83..125, std 31, new picture 1040x = 25.0 per s"
   },
   "video observation.images.wrist frames = parquet rows": {
    "pass": true,
-   "detail": "1046 vs 1046"
+   "detail": "1041 vs 1041"
   },
   "sim_info present": {
    "pass": true,

N045/go2_arm/dr_on/seed_6005/check.txt

@@ -1,21 +1,21 @@
 collect dataset check  cell=/mnt/scratch/sz850_atomic/n045_go2_on_6005/out  task=N045  at verify_collect_dataset.py
-dataset root /mnt/scratch/sz850_atomic/n045_go2_on_6005/out/phaserun/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1046  videos 2  robot_type Go2PlusCfg
+dataset root /mnt/scratch/sz850_atomic/n045_go2_on_6005/out/phaserun/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1041  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: 1046 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']
+--- episode file episode_000000.parquet: 1041 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 faucet, wait for the person standing there to walk away, then push its lever over to turn it off.'; expected 'Go to the faucet, wait for the person standing there to walk away, then push its lever over to turn it off.'
-rows 1046 at dataset fps 25 = 41.84 s
-[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1046 rows vs ceil(2092/2) = 1046
-[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 151..2241, step differences [2]
-[PASS] video observation.images.head decodes, 640x480, not black: 20.66 MB, 1046 frames at 25 fps, mean luma 82..114, std 37, new picture 1045x = 25.0 per s
-[PASS] video observation.images.head frames = parquet rows: 1046 vs 1046
-[PASS] video observation.images.wrist decodes, 640x480, not black: 18.41 MB, 1046 frames at 25 fps, mean luma 83..125, std 30, new picture 1045x = 25.0 per s
-[PASS] video observation.images.wrist frames = parquet rows: 1046 vs 1046
-parquet size 3.99 MB
+rows 1041 at dataset fps 25 = 41.64 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1041 rows vs ceil(2081/2) = 1041
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 151..2231, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 21.14 MB, 1041 frames at 25 fps, mean luma 81..113, std 36, new picture 1040x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1041 vs 1041
+[PASS] video observation.images.wrist decodes, 640x480, not black: 18.43 MB, 1041 frames at 25 fps, mean luma 83..125, std 31, new picture 1040x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1041 vs 1041
+parquet size 3.96 MB
 [PASS] sim_info present: phaserun/000/sim_info
-dataset size 43.46 MB; whole cell dir 47.2 MB
+dataset size 43.92 MB; whole cell dir 47.7 MB
 RESULT: ALL PASS

N045/go2_arm/dr_on/seed_6005/phaserun/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -1,3 +1,3 @@
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-oid sha256:ed8ee45ed478141a09bcb273ed60e69c59b0b89c5c1b36a0c4d02ad6a6c2f619
-size 3994859
+oid sha256:bd2d76ed3d67c5974571c1b676baf4f0612aaca2789049a4074cc99f2b685335
+size 3956473

N045/go2_arm/dr_on/seed_6005/phaserun/000/lerobot_v21/meta/episodes.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "tasks": ["Go to the faucet, wait for the person standing there to walk away, then push its lever over to turn it off."], "length": 1046, "magicsim/control_steps": 2092, "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 gray plinth. There are a large gray plinth and a large faucet. The faucet is on top of the gray plinth. The scene is viewed from front-left, at table height."}
+{"episode_index": 0, "tasks": ["Go to the faucet, wait for the person standing there to walk away, then push its lever over to turn it off."], "length": 1041, "magicsim/control_steps": 2081, "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 gray plinth. There are a large gray plinth and a large faucet. The faucet is on top of the gray plinth. The scene is viewed from front-left, at table height."}

N045/go2_arm/dr_on/seed_6005/phaserun/000/lerobot_v21/meta/extra/episode_000000.json

@@ -4,7 +4,7 @@
  "env_id": 0,
  "task_type": "PhaseRun",
  "subsample_every": 2,
- "control_steps": 2092,
+ "control_steps": 2081,
  "language": {
   "scene": {
    "objects": [

N045/go2_arm/dr_on/seed_6005/phaserun/000/lerobot_v21/meta/info.json

@@ -2,7 +2,7 @@
     "codebase_version": "v2.1",
     "robot_type": "Go2PlusCfg",
     "total_episodes": 1,
-    "total_frames": 1046,
+    "total_frames": 1041,
     "total_tasks": 1,
     "total_videos": 2,
     "total_chunks": 1,

N045/go2_arm/dr_on/seed_6005/phaserun/000/lerobot_v21/meta/magicsim_manifest.json

@@ -1,7 +1,7 @@
 {
     "schema_version": 1,
     "generated": {
-        "time": "2026-11-09 22:22:06"
+        "time": "2026-11-10 04:53:02"
     },
     "embodiment": {
         "robots": [

N045/go2_arm/dr_on/seed_6005/phaserun/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

@@ -1,3 +1,3 @@
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-oid sha256:9886856e3f191475666e1ee176b8d01809eb99607644b8f8a39284b63c29587f
-size 20657257
+oid sha256:f8b92204a31d19467da0041900c72a0c308fa9bc7041658954652b78d07c9a0d
+size 21135929

N045/go2_arm/dr_on/seed_6005/phaserun/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

@@ -1,3 +1,3 @@
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-oid sha256:634a8d6c95742e4ef3d193a7dac7dd5b0aadf9444d851967c5a4e55e87b60ec6
-size 18407641
+oid sha256:aa0392f0e116daf47797ed27284a637a676497b7cdf1ad463ed22984414c1815
+size 18426684

N045/go2_arm/dr_on/seed_6005/phaserun/000/run_meta.json

@@ -1,6 +1,6 @@
 {
     "run_id": "phaserun/000",
-    "created": "2026-11-09 22:13:30",
+    "created": "2026-11-10 04:40:53",
     "num_envs": 1,
     "session_id": null,
     "record_config": {

N045/go2_arm/dr_on/seed_6005/phaserun/000/sim_info/0/actions.npz

@@ -1,3 +1,3 @@
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-oid sha256:e65da60f8296aba0b3762206218775db500f8f63313f18097cf3d33f9505bd78
-size 371785
+oid sha256:546def8c6f542a37e2c8537d3fdcc47e373cfae19a34868098d8c14d3c6fa96e
+size 372101

N045/go2_arm/dr_on/seed_6005/phaserun/000/sim_info/0/scene_snapshot.json

@@ -335,15 +335,15 @@
                     ],
                     "pose": {
                         "pos": [
-                            0.6920544505119324,
-                            0.30514654517173767,
+                            0.6862118244171143,
+                            0.32683464884757996,
                             0.029999999329447746
                         ],
                         "ori": [
-                            0.994068443775177,
+                            0.9948434829711914,
                             0.0,
                             0.0,
-                            -0.10875687748193741
+                            -0.10142265260219574
                         ],
                         "scale": [
                             1.0,
@@ -482,30 +482,30 @@
                             "rotations": null,
                             "targets": {},
                             "velocity_active": false,
-                            "face": -0.20537663814918417,
+                            "face": -0.22204404319669435,
                             "rest_ready": true,
                             "pelvis_local": [
-                                2.8011555799727084e-08,
-                                -0.013586575005976403,
-                                0.9289559442549944
+                                -1.2604007402008954e-08,
+                                -0.013590814864920758,
+                                0.9292470533400774
                             ],
                             "foot_local": {
                                 "Left": [
-                                    0.08864906461589749,
-                                    0.050130746747210464,
-                                    0.06968131102621555
+                                    0.08793018814417312,
+                                    0.042793380665088414,
+                                    0.06908954866230488
                                 ],
                                 "Right": [
-                                    -0.12144089170741339,
-                                    0.039463733988308936,
-                                    0.07123723067343235
+                                    -0.12208146999160407,
+                                    0.028037935779561915,
+                                    0.07107187993824482
                                 ]
                             },
                             "chest_rest": [
-                                0.7837308709760101,
-                                0.6209363836225458,
-                                -0.011613990414000588,
-                                -0.008321642075375016
+                                0.7872730281069327,
+                                0.6164604509891511,
+                                0.005725718332980648,
+                                -0.012045414629291679
                             ]
                         }
                     }

N045/go2_arm/dr_on/seed_6005/phaserun/000/sim_info/0/sim_states.npz

@@ -1,3 +1,3 @@
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-size 3205836
+oid sha256:277213720f45f787e7f3fb2652dd72a0e018000d02acfba57c199903d8836720
+size 3186709

N045/go2_arm/dr_on/seed_6005/phaserun/000/sim_info/magicsim_manifest.json

@@ -1,7 +1,7 @@
 {
     "schema_version": 1,
     "generated": {
-        "time": "2026-11-09 22:22:21"
+        "time": "2026-11-10 04:53:20"
     },
     "embodiment": {
         "robots": [