N053: instruction text -> instructions.tsv@30762bb60 (325 files)

N053/stretch3/dr_off/seed_1135/rec/check.json

@@ -23,7 +23,7 @@
   },
   "task text = MobileBench instruction": {
    "pass": true,
-   "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'"
+   "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'"
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,

N053/stretch3/dr_off/seed_1135/rec/check.txt

@@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_off_1135/out/rec/memorystage/000
 --- episode file episode_000000.parquet: 3353 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'
+[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'
 rows 3353 at dataset fps 25 = 134.12 s
 [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3353 rows vs ceil(6706/2) = 3353
 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6765, step differences [2]

N053/stretch3/dr_off/seed_1135/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3353, "magicsim/control_steps": 6706, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."}
+{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3353, "magicsim/control_steps": 6706, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."}

N053/stretch3/dr_off/seed_1135/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json

@@ -534,7 +534,7 @@
   },
   "task": {
    "task_type": "MemoryStage",
-   "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.",
+   "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.",
    "template_id": -1,
    "slots": {
     "obj": 3.141592653589793,

N053/stretch3/dr_off/seed_1135/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl

@@ -1 +1 @@
-{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."}
+{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."}

N053/stretch3/dr_off/seed_1136/rec/check.json

@@ -23,7 +23,7 @@
   },
   "task text = MobileBench instruction": {
    "pass": true,
-   "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'"
+   "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'"
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,

N053/stretch3/dr_off/seed_1136/rec/check.txt

@@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_off_1136/out/rec/memorystage/000
 --- episode file episode_000000.parquet: 2278 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'
+[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'
 rows 2278 at dataset fps 25 = 91.12 s
 [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2278 rows vs ceil(4555/2) = 2278
 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4615, step differences [2]

N053/stretch3/dr_off/seed_1136/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2278, "magicsim/control_steps": 4555, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."}
+{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2278, "magicsim/control_steps": 4555, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."}

N053/stretch3/dr_off/seed_1136/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json

@@ -534,7 +534,7 @@
   },
   "task": {
    "task_type": "MemoryStage",
-   "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.",
+   "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.",
    "template_id": -1,
    "slots": {
     "obj": 3.141592653589793,

N053/stretch3/dr_off/seed_1136/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl

@@ -1 +1 @@
-{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."}
+{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."}

N053/stretch3/dr_off/seed_1137/rec/check.json

@@ -23,7 +23,7 @@
   },
   "task text = MobileBench instruction": {
    "pass": true,
-   "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'"
+   "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'"
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,

N053/stretch3/dr_off/seed_1137/rec/check.txt

@@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_off_1137/out/rec/memorystage/000
 --- episode file episode_000000.parquet: 3458 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'
+[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'
 rows 3458 at dataset fps 25 = 138.32 s
 [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3458 rows vs ceil(6915/2) = 3458
 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6975, step differences [2]

N053/stretch3/dr_off/seed_1137/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3458, "magicsim/control_steps": 6915, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."}
+{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3458, "magicsim/control_steps": 6915, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."}

N053/stretch3/dr_off/seed_1137/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json

@@ -534,7 +534,7 @@
   },
   "task": {
    "task_type": "MemoryStage",
-   "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.",
+   "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.",
    "template_id": -1,
    "slots": {
     "obj": 3.141592653589793,

N053/stretch3/dr_off/seed_1137/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl

@@ -1 +1 @@
-{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."}
+{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."}

N053/stretch3/dr_off/seed_1138/rec/check.json

@@ -23,7 +23,7 @@
   },
   "task text = MobileBench instruction": {
    "pass": true,
-   "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'"
+   "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'"
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,

N053/stretch3/dr_off/seed_1138/rec/check.txt

@@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_off_1138/out/rec/memorystage/000
 --- episode file episode_000000.parquet: 2338 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'
+[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'
 rows 2338 at dataset fps 25 = 93.52 s
 [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2338 rows vs ceil(4675/2) = 2338
 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4735, step differences [2]

N053/stretch3/dr_off/seed_1138/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2338, "magicsim/control_steps": 4675, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."}
+{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2338, "magicsim/control_steps": 4675, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."}

N053/stretch3/dr_off/seed_1138/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json

@@ -534,7 +534,7 @@
   },
   "task": {
    "task_type": "MemoryStage",
-   "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.",
+   "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.",
    "template_id": -1,
    "slots": {
     "obj": 3.141592653589793,

N053/stretch3/dr_off/seed_1138/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl

@@ -1 +1 @@
-{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."}
+{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."}

N053/stretch3/dr_off/seed_1139/rec/check.json

@@ -23,7 +23,7 @@
   },
   "task text = MobileBench instruction": {
    "pass": true,
-   "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'"
+   "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'"
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,

N053/stretch3/dr_off/seed_1139/rec/check.txt

@@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_off_1139/out/rec/memorystage/000
 --- episode file episode_000000.parquet: 2315 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'
+[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'
 rows 2315 at dataset fps 25 = 92.60 s
 [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2315 rows vs ceil(4630/2) = 2315
 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4689, step differences [2]

N053/stretch3/dr_off/seed_1139/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2315, "magicsim/control_steps": 4630, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."}
+{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2315, "magicsim/control_steps": 4630, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."}

N053/stretch3/dr_off/seed_1139/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json

@@ -534,7 +534,7 @@
   },
   "task": {
    "task_type": "MemoryStage",
-   "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.",
+   "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.",
    "template_id": -1,
    "slots": {
     "obj": 3.141592653589793,

N053/stretch3/dr_off/seed_1139/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl

@@ -1 +1 @@
-{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."}
+{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."}

N053/stretch3/dr_off/seed_1140/rec/check.json

@@ -23,7 +23,7 @@
   },
   "task text = MobileBench instruction": {
    "pass": true,
-   "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'"
+   "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'"
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,

N053/stretch3/dr_off/seed_1140/rec/check.txt

@@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_off_1140/out/rec/memorystage/000
 --- episode file episode_000000.parquet: 3123 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'
+[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'
 rows 3123 at dataset fps 25 = 124.92 s
 [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3123 rows vs ceil(6245/2) = 3123
 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6305, step differences [2]

N053/stretch3/dr_off/seed_1140/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3123, "magicsim/control_steps": 6245, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."}
+{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3123, "magicsim/control_steps": 6245, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."}

N053/stretch3/dr_off/seed_1140/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json

@@ -534,7 +534,7 @@
   },
   "task": {
    "task_type": "MemoryStage",
-   "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.",
+   "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.",
    "template_id": -1,
    "slots": {
     "obj": 3.141592653589793,

N053/stretch3/dr_off/seed_1140/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl

@@ -1 +1 @@
-{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."}
+{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."}

N053/stretch3/dr_off/seed_1141/rec/check.json

@@ -23,7 +23,7 @@
   },
   "task text = MobileBench instruction": {
    "pass": true,
-   "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'"
+   "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'"
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,

N053/stretch3/dr_off/seed_1141/rec/check.txt

@@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_off_1141/out/rec/memorystage/000
 --- episode file episode_000000.parquet: 3154 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'
+[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'
 rows 3154 at dataset fps 25 = 126.16 s
 [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 3154 rows vs ceil(6308/2) = 3154
 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..6367, step differences [2]

N053/stretch3/dr_off/seed_1141/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 3154, "magicsim/control_steps": 6308, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."}
+{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 3154, "magicsim/control_steps": 6308, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."}

N053/stretch3/dr_off/seed_1141/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json

@@ -534,7 +534,7 @@
   },
   "task": {
    "task_type": "MemoryStage",
-   "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.",
+   "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.",
    "template_id": -1,
    "slots": {
     "obj": 3.141592653589793,

N053/stretch3/dr_off/seed_1141/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl

@@ -1 +1 @@
-{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."}
+{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."}

N053/stretch3/dr_off/seed_1142/rec/check.json

@@ -23,7 +23,7 @@
   },
   "task text = MobileBench instruction": {
    "pass": true,
-   "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'"
+   "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'"
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,

N053/stretch3/dr_off/seed_1142/rec/check.txt

@@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_off_1142/out/rec/memorystage/000
 --- episode file episode_000000.parquet: 2299 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'
+[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'
 rows 2299 at dataset fps 25 = 91.96 s
 [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2299 rows vs ceil(4598/2) = 2299
 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4657, step differences [2]

N053/stretch3/dr_off/seed_1142/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2299, "magicsim/control_steps": 4598, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."}
+{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2299, "magicsim/control_steps": 4598, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the right of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front, slightly above table height."}

N053/stretch3/dr_off/seed_1142/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json

@@ -534,7 +534,7 @@
   },
   "task": {
    "task_type": "MemoryStage",
-   "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.",
+   "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.",
    "template_id": -1,
    "slots": {
     "obj": 3.141592653589793,

N053/stretch3/dr_off/seed_1142/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl

@@ -1 +1 @@
-{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."}
+{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."}

N053/stretch3/dr_off/seed_1143/rec/check.json

@@ -23,7 +23,7 @@
   },
   "task text = MobileBench instruction": {
    "pass": true,
-   "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'"
+   "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'"
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,

N053/stretch3/dr_off/seed_1143/rec/check.txt

@@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_off_1143/out/rec/memorystage/000
 --- episode file episode_000000.parquet: 2313 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'
+[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'
 rows 2313 at dataset fps 25 = 92.52 s
 [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2313 rows vs ceil(4625/2) = 2313
 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4685, step differences [2]

N053/stretch3/dr_off/seed_1143/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2313, "magicsim/control_steps": 4625, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."}
+{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2313, "magicsim/control_steps": 4625, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is to the left of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."}

N053/stretch3/dr_off/seed_1143/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json

@@ -534,7 +534,7 @@
   },
   "task": {
    "task_type": "MemoryStage",
-   "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.",
+   "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.",
    "template_id": -1,
    "slots": {
     "obj": 3.141592653589793,

N053/stretch3/dr_off/seed_1143/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl

@@ -1 +1 @@
-{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."}
+{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."}

N053/stretch3/dr_off/seed_1144/rec/check.json

@@ -23,7 +23,7 @@
   },
   "task text = MobileBench instruction": {
    "pass": true,
-   "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'"
+   "detail": "task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'"
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,

N053/stretch3/dr_off/seed_1144/rec/check.txt

@@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n053_str_off_1144/out/rec/memorystage/000
 --- episode file episode_000000.parquet: 2307 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: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'
+[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'; expected 'Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.'
 rows 2307 at dataset fps 25 = 92.28 s
 [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2307 rows vs ceil(4613/2) = 2307
 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4673, step differences [2]

N053/stretch3/dr_off/seed_1144/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2307, "magicsim/control_steps": 4613, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."}
+{"episode_index": 0, "tasks": ["Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."], "length": 2307, "magicsim/control_steps": 4613, "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 rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is to the right of the rack. The white st booth r is on top of the rack. The white st booth r is to the left of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."}

N053/stretch3/dr_off/seed_1144/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json

@@ -534,7 +534,7 @@
   },
   "task": {
    "task_type": "MemoryStage",
-   "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.",
+   "instruction": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad.",
    "template_id": -1,
    "slots": {
     "obj": 3.141592653589793,

N053/stretch3/dr_off/seed_1144/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl

@@ -1 +1 @@
-{"task_index": 0, "task": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."}
+{"task_index": 0, "task": "Watch which pen touches the red panel, then go around the partition and put the pen that did not touch it on the target pad."}