N052: instruction text -> instructions.tsv@30762bb60 (400 files)

N052/go2_arm/dr_on/seed_2130/rec/check.json

@@ -23,7 +23,7 @@
   },
   "task text = MobileBench instruction": {
    "pass": true,
-   "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'"
+   "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'"
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,

N052/go2_arm/dr_on/seed_2130/rec/check.txt

@@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2130/out/rec/memorystage/000/
 --- episode file episode_000000.parquet: 1153 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
 [PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']
 [PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']
-[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'
+[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'
 rows 1153 at dataset fps 25 = 46.12 s
 [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1153 rows vs ceil(2305/2) = 1153
 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2365, step differences [2]

N052/go2_arm/dr_on/seed_2130/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1153, "magicsim/control_steps": 2305, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the left of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, at table height."}
+{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1153, "magicsim/control_steps": 2305, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the left of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, at table height."}

N052/go2_arm/dr_on/seed_2130/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json

@@ -576,7 +576,7 @@
   },
   "task": {
    "task_type": "MemoryStage",
-   "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.",
+   "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.",
    "template_id": -1,
    "slots": {
     "obj": 1.5707963267948966,

N052/go2_arm/dr_on/seed_2130/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl

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

N052/go2_arm/dr_on/seed_2132/rec/check.json

@@ -23,7 +23,7 @@
   },
   "task text = MobileBench instruction": {
    "pass": true,
-   "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'"
+   "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'"
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,

N052/go2_arm/dr_on/seed_2132/rec/check.txt

@@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2132/out/rec/memorystage/000/
 --- episode file episode_000000.parquet: 1136 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
 [PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']
 [PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']
-[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'
+[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'
 rows 1136 at dataset fps 25 = 45.44 s
 [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1136 rows vs ceil(2271/2) = 1136
 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2331, step differences [2]

N052/go2_arm/dr_on/seed_2132/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1136, "magicsim/control_steps": 2271, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is behind the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, at table height."}
+{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1136, "magicsim/control_steps": 2271, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is behind the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, at table height."}

N052/go2_arm/dr_on/seed_2132/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json

@@ -581,7 +581,7 @@
   },
   "task": {
    "task_type": "MemoryStage",
-   "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.",
+   "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.",
    "template_id": -1,
    "slots": {
     "obj": 1.5707963267948966,

N052/go2_arm/dr_on/seed_2132/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl

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

N052/go2_arm/dr_on/seed_2133/rec/check.json

@@ -23,7 +23,7 @@
   },
   "task text = MobileBench instruction": {
    "pass": true,
-   "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'"
+   "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'"
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,

N052/go2_arm/dr_on/seed_2133/rec/check.txt

@@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2133/out/rec/memorystage/000/
 --- episode file episode_000000.parquet: 1158 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
 [PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']
 [PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']
-[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'
+[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'
 rows 1158 at dataset fps 25 = 46.32 s
 [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1158 rows vs ceil(2316/2) = 1158
 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2375, step differences [2]

N052/go2_arm/dr_on/seed_2133/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1158, "magicsim/control_steps": 2316, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, at table height."}
+{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1158, "magicsim/control_steps": 2316, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, at table height."}

N052/go2_arm/dr_on/seed_2133/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json

@@ -581,7 +581,7 @@
   },
   "task": {
    "task_type": "MemoryStage",
-   "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.",
+   "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.",
    "template_id": -1,
    "slots": {
     "obj": 1.5707963267948966,

N052/go2_arm/dr_on/seed_2133/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl

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

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

@@ -23,7 +23,7 @@
   },
   "task text = MobileBench instruction": {
    "pass": true,
-   "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'"
+   "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'"
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,

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

@@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2135/out/rec/memorystage/000/
 --- episode file episode_000000.parquet: 1101 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
 [PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']
 [PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']
-[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'
+[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'
 rows 1101 at dataset fps 25 = 44.04 s
 [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1101 rows vs ceil(2201/2) = 1101
 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2261, step differences [2]

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

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

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

@@ -581,7 +581,7 @@
   },
   "task": {
    "task_type": "MemoryStage",
-   "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.",
+   "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.",
    "template_id": -1,
    "slots": {
     "obj": 1.5707963267948966,

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

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

N052/go2_arm/dr_on/seed_2136/rec/check.json

@@ -23,7 +23,7 @@
   },
   "task text = MobileBench instruction": {
    "pass": true,
-   "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'"
+   "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'"
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,

N052/go2_arm/dr_on/seed_2136/rec/check.txt

@@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2136/out/rec/memorystage/000/
 --- episode file episode_000000.parquet: 1133 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
 [PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']
 [PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']
-[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'
+[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'
 rows 1133 at dataset fps 25 = 45.32 s
 [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1133 rows vs ceil(2265/2) = 1133
 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2325, step differences [2]

N052/go2_arm/dr_on/seed_2136/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1133, "magicsim/control_steps": 2265, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the right of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, at table height."}
+{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1133, "magicsim/control_steps": 2265, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the right of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is to the left of the blue item blue. The scene is viewed from front-left, at table height."}

N052/go2_arm/dr_on/seed_2136/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json

@@ -581,7 +581,7 @@
   },
   "task": {
    "task_type": "MemoryStage",
-   "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.",
+   "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.",
    "template_id": -1,
    "slots": {
     "obj": 1.5707963267948966,

N052/go2_arm/dr_on/seed_2136/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl

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

N052/go2_arm/dr_on/seed_2137/rec/check.json

@@ -23,7 +23,7 @@
   },
   "task text = MobileBench instruction": {
    "pass": true,
-   "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'"
+   "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'"
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,

N052/go2_arm/dr_on/seed_2137/rec/check.txt

@@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2137/out/rec/memorystage/000/
 --- episode file episode_000000.parquet: 1131 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
 [PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']
 [PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']
-[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'
+[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'
 rows 1131 at dataset fps 25 = 45.24 s
 [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1131 rows vs ceil(2261/2) = 1131
 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2321, step differences [2]

N052/go2_arm/dr_on/seed_2137/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1131, "magicsim/control_steps": 2261, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, at table height."}
+{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1131, "magicsim/control_steps": 2261, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, at table height."}

N052/go2_arm/dr_on/seed_2137/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json

@@ -581,7 +581,7 @@
   },
   "task": {
    "task_type": "MemoryStage",
-   "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.",
+   "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.",
    "template_id": -1,
    "slots": {
     "obj": 1.5707963267948966,

N052/go2_arm/dr_on/seed_2137/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl

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

N052/go2_arm/dr_on/seed_2138/rec/check.json

@@ -23,7 +23,7 @@
   },
   "task text = MobileBench instruction": {
    "pass": true,
-   "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'"
+   "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'"
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,

N052/go2_arm/dr_on/seed_2138/rec/check.txt

@@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2138_r1/out/rec/memorystage/0
 --- episode file episode_000000.parquet: 1180 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
 [PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']
 [PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']
-[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'
+[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'
 rows 1180 at dataset fps 25 = 47.20 s
 [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1180 rows vs ceil(2360/2) = 1180
 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2419, step differences [2]

N052/go2_arm/dr_on/seed_2138/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1180, "magicsim/control_steps": 2360, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, at table height."}
+{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1180, "magicsim/control_steps": 2360, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, at table height."}

N052/go2_arm/dr_on/seed_2138/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json

@@ -576,7 +576,7 @@
   },
   "task": {
    "task_type": "MemoryStage",
-   "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.",
+   "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.",
    "template_id": -1,
    "slots": {
     "obj": 1.5707963267948966,

N052/go2_arm/dr_on/seed_2138/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl

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

N052/go2_arm/dr_on/seed_2139/rec/check.json

@@ -23,7 +23,7 @@
   },
   "task text = MobileBench instruction": {
    "pass": true,
-   "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'"
+   "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'"
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,

N052/go2_arm/dr_on/seed_2139/rec/check.txt

@@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2139/out/rec/memorystage/000/
 --- episode file episode_000000.parquet: 1210 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
 [PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']
 [PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']
-[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'
+[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'
 rows 1210 at dataset fps 25 = 48.40 s
 [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1210 rows vs ceil(2419/2) = 1210
 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2479, step differences [2]

N052/go2_arm/dr_on/seed_2139/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1210, "magicsim/control_steps": 2419, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, at table height."}
+{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1210, "magicsim/control_steps": 2419, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the left of the gray st table a. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is behind the blue item blue. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front-left, at table height."}

N052/go2_arm/dr_on/seed_2139/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json

@@ -576,7 +576,7 @@
   },
   "task": {
    "task_type": "MemoryStage",
-   "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.",
+   "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.",
    "template_id": -1,
    "slots": {
     "obj": 1.5707963267948966,

N052/go2_arm/dr_on/seed_2139/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl

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

N052/go2_arm/dr_on/seed_2140/rec/check.json

@@ -23,7 +23,7 @@
   },
   "task text = MobileBench instruction": {
    "pass": true,
-   "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'"
+   "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'"
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,

N052/go2_arm/dr_on/seed_2140/rec/check.txt

@@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2140/out/rec/memorystage/000/
 --- episode file episode_000000.parquet: 1169 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
 [PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']
 [PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']
-[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'
+[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'
 rows 1169 at dataset fps 25 = 46.76 s
 [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1169 rows vs ceil(2337/2) = 1169
 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2397, step differences [2]

N052/go2_arm/dr_on/seed_2140/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1169, "magicsim/control_steps": 2337, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, at table height."}
+{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1169, "magicsim/control_steps": 2337, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall l. The white st wall top is to the right of the white st wall l. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The gray st table b is to the right of the weigher. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, at table height."}

N052/go2_arm/dr_on/seed_2140/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json

@@ -581,7 +581,7 @@
   },
   "task": {
    "task_type": "MemoryStage",
-   "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.",
+   "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.",
    "template_id": -1,
    "slots": {
     "obj": 1.5707963267948966,

N052/go2_arm/dr_on/seed_2140/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl

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

N052/go2_arm/dr_on/seed_2141/rec/check.json

@@ -23,7 +23,7 @@
   },
   "task text = MobileBench instruction": {
    "pass": true,
-   "detail": "task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'"
+   "detail": "task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'"
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,

N052/go2_arm/dr_on/seed_2141/rec/check.txt

@@ -7,7 +7,7 @@ dataset root /mnt/scratch/sz850_atomic/n052_go2_on_2141/out/rec/memorystage/000/
 --- episode file episode_000000.parquet: 1118 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
 [PASS] observation.state shape: parquet width 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']
 [PASS] action shape: parquet width 12, info shape [12], 12 names first: ['base_action_0', 'base_action_1', 'base_action_2', 'base_action_3', 'eef0.pos_x', 'eef0.pos_y']
-[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'; expected 'Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.'
+[PASS] task text = MobileBench instruction: task_index 0: 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'; expected 'Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.'
 rows 1118 at dataset fps 25 = 44.72 s
 [PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1118 rows vs ceil(2236/2) = 1118
 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2295, step differences [2]

N052/go2_arm/dr_on/seed_2141/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "tasks": ["Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad."], "length": 1118, "magicsim/control_steps": 2236, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, at table height."}
+{"episode_index": 0, "tasks": ["Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad."], "length": 1118, "magicsim/control_steps": 2236, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "An Unitree Go2 EDU quadruped with a Piper arm is positioned at the workspace, facing the white st booth l. There are a large white st wall l, a large white st wall r, a large white st wall top, a large white st wall bottom, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium weigher, a small red item red, a small blue item blue and a large gray delivery. The white st wall l is on top of the white st booth l. The white st wall l is to the left of the white st booth l. The white st wall r is on top of the white st booth r. The white st wall r is to the left of the white st booth r. The white st wall top is on top of the white st wall r. The white st wall top is to the left of the white st wall r. The white st wall bottom is to the right of the gray st table b. The gray st table a is to the right of the white st wall bottom. The white st booth l is to the right of the white st wall l. The white st booth r is to the right of the white st wall r. The weigher is in front of the red item red. The red item red is on top of the weigher. The red item red is behind the weigher. The blue item blue is on top of the weigher. The blue item blue is in front of the weigher. The gray delivery is in front of the blue item blue. The scene is viewed from front, at table height."}

N052/go2_arm/dr_on/seed_2141/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json

@@ -576,7 +576,7 @@
   },
   "task": {
    "task_type": "MemoryStage",
-   "instruction": "Watch the two items being weighed, then go to the other side and put the lighter one on the delivery pad.",
+   "instruction": "Watch the two cubes being weighed, then go to the other side and put the lighter cube on the delivery pad.",
    "template_id": -1,
    "slots": {
     "obj": 1.5707963267948966,

N052/go2_arm/dr_on/seed_2141/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl

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