add N059/stretch3/dr_on/seed_6009

N059/stretch3/dr_on/seed_6009/data/record/check.json

@@ -27,27 +27,27 @@
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,
-   "detail": "1372 rows vs ceil(2743/2) = 1372"
+   "detail": "1373 rows vs ceil(2745/2) = 1373"
   },
   "rows are every 2nd control step (sim_step_idx)": {
    "pass": true,
-   "detail": "sim_step_idx 91..2833, step differences [2]"
+   "detail": "sim_step_idx 91..2835, step differences [2]"
   },
   "video observation.images.head decodes, 640x480, not black": {
    "pass": true,
-   "detail": "42.29 MB, 1372 frames at 25 fps, mean luma 79..125, std 31, new picture 1371x = 25.0 per s"
+   "detail": "42.02 MB, 1373 frames at 25 fps, mean luma 79..126, std 31, new picture 1372x = 25.0 per s"
   },
   "video observation.images.head frames = parquet rows": {
    "pass": true,
-   "detail": "1372 vs 1372"
+   "detail": "1373 vs 1373"
   },
   "video observation.images.wrist decodes, 640x480, not black": {
    "pass": true,
-   "detail": "37.15 MB, 1372 frames at 25 fps, mean luma 75..123, std 35, new picture 1371x = 25.0 per s"
+   "detail": "37.09 MB, 1373 frames at 25 fps, mean luma 75..123, std 35, new picture 1372x = 25.0 per s"
   },
   "video observation.images.wrist frames = parquet rows": {
    "pass": true,
-   "detail": "1372 vs 1372"
+   "detail": "1373 vs 1373"
   },
   "sim_info present": {
    "pass": true,

N059/stretch3/dr_on/seed_6009/data/record/check.txt

@@ -1,21 +1,21 @@
 collect dataset check  cell=/mnt/scratch/sz850_atomic/n059_str_on_6009/out/data/record  task=N059  at verify_collect_dataset.py
-dataset root /mnt/scratch/sz850_atomic/n059_str_on_6009/out/data/record/stackblocks/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1372  videos 2  robot_type HelloRobotCfg
+dataset root /mnt/scratch/sz850_atomic/n059_str_on_6009/out/data/record/stackblocks/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1373  videos 2  robot_type HelloRobotCfg
 [PASS] codebase v2.1: v2.1
 [PASS] dataset fps = 25: info.fps 25
 (no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only)
 [PASS] parquet episodes: 1 files, info.total_episodes=1
---- episode file episode_000000.parquet: 1372 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+--- episode file episode_000000.parquet: 1373 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: 'Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.'; expected 'Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order.'
-rows 1372 at dataset fps 25 = 54.88 s
-[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1372 rows vs ceil(2743/2) = 1372
-[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 91..2833, step differences [2]
-[PASS] video observation.images.head decodes, 640x480, not black: 42.29 MB, 1372 frames at 25 fps, mean luma 79..125, std 31, new picture 1371x = 25.0 per s
-[PASS] video observation.images.head frames = parquet rows: 1372 vs 1372
-[PASS] video observation.images.wrist decodes, 640x480, not black: 37.15 MB, 1372 frames at 25 fps, mean luma 75..123, std 35, new picture 1371x = 25.0 per s
-[PASS] video observation.images.wrist frames = parquet rows: 1372 vs 1372
-parquet size 1.95 MB
+rows 1373 at dataset fps 25 = 54.92 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1373 rows vs ceil(2745/2) = 1373
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 91..2835, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 42.02 MB, 1373 frames at 25 fps, mean luma 79..126, std 31, new picture 1372x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1373 vs 1373
+[PASS] video observation.images.wrist decodes, 640x480, not black: 37.09 MB, 1373 frames at 25 fps, mean luma 75..123, std 35, new picture 1372x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1373 vs 1373
+parquet size 1.96 MB
 [PASS] sim_info present: stackblocks/000/sim_info
-dataset size 81.58 MB; whole cell dir 82.6 MB
+dataset size 81.26 MB; whole cell dir 82.3 MB
 RESULT: ALL PASS

N059/stretch3/dr_on/seed_6009/data/record/stackblocks/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d868d3a0c905fb6f239696ee4edbce024323a68ef529191f9955927558fe5d3d
-size 1949826
+oid sha256:79c09e493041c176ad16ece5b3c7a1b9066a50647b4f220034ace293453a9d55
+size 1956212

N059/stretch3/dr_on/seed_6009/data/record/stackblocks/000/lerobot_v21/meta/episodes.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "tasks": ["Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order."], "length": 1372, "magicsim/control_steps": 2743, "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 demo x. There are a large gray table a, a large gray table b, a large white partition, a small demo x, a small demo y, a small block x and a small block y. The gray table a is to the left of the demo x. The gray table b is to the left of the block y. The white partition is to the left of the block x. The demo y is on top of the demo x. The block x is to the left of the block y. The block y is to the right of the block x. The scene is viewed from front, slightly above table height."}
+{"episode_index": 0, "tasks": ["Look at how the two blocks are stacked on the first table, then go to the second table and stack its two blocks in the same order."], "length": 1373, "magicsim/control_steps": 2745, "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 demo x. There are a large gray table a, a large gray table b, a large white partition, a small demo x, a small demo y, a small block x and a small block y. The gray table a is to the left of the demo x. The gray table b is to the left of the block y. The white partition is to the left of the block x. The demo y is on top of the demo x. The block x is to the left of the block y. The block y is to the right of the block x. The scene is viewed from front, slightly above table height."}

N059/stretch3/dr_on/seed_6009/data/record/stackblocks/000/lerobot_v21/meta/extra/episode_000000.json

@@ -4,7 +4,7 @@
  "env_id": 0,
  "task_type": "StackBlocks",
  "subsample_every": 2,
- "control_steps": 2743,
+ "control_steps": 2745,
  "language": {
   "scene": {
    "objects": [
@@ -99,19 +99,19 @@
      "material": null,
      "category": "rigid",
      "pos": [
-      3.0055160220136967,
-      3.2502353277907297,
-      0.2999997035173813
+      3.005516909159088,
+      3.2502349778367585,
+      0.2999998823312447
      ],
      "bbox": {
       "extent": [
-       0.039477310028731234,
-       0.039477569265146686,
-       0.06000095974240777
+       0.039479496573651345,
+       0.0394774398352892,
+       0.060002101112577144
       ],
       "center": [
-       6.938893903907228e-17,
-       3.2959746043559335e-16,
+       -7.632783294297951e-17,
+       6.071532165918825e-16,
        2.7755575615628914e-17
       ]
      }
@@ -126,20 +126,20 @@
      "material": null,
      "category": "rigid",
      "pos": [
-      3.0055181741760455,
-      3.2502352497867086,
-      0.35499965106511794
+      3.005521208970861,
+      3.250234821539581,
+      0.3550000682973846
      ],
      "bbox": {
       "extent": [
-       0.046878243767343904,
-       0.04687918534990205,
-       0.05000094045297593
+       0.04688164690709776,
+       0.04688020117497728,
+       0.05000438710463079
       ],
       "center": [
-       -1.1102230246251565e-16,
-       0.0,
-       2.7755575615628914e-17
+       -9.8879238130678e-17,
+       -1.7520707107365752e-16,
+       -2.7755575615628914e-17
       ]
      }
     },
@@ -159,14 +159,14 @@
      ],
      "bbox": {
       "extent": [
-       0.032001177249675605,
-       0.03200488611083281,
-       0.06000296456433313
+       0.03200114691524797,
+       0.03200486140800804,
+       0.06000296273249067
       ],
       "center": [
-       1.3877787807814457e-17,
-       -7.806255641895632e-17,
-       2.7755575615628914e-17
+       -3.642919299551295e-17,
+       -6.678685382510707e-16,
+       -2.7755575615628914e-17
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      }
     },
@@ -186,13 +186,13 @@
      ],
      "bbox": {
       "extent": [
-       0.038001120336265404,
-       0.038000233902230424,
-       0.05000076449556723
+       0.03800107915955685,
+       0.03800022820797197,
+       0.050000777157969134
       ],
       "center": [
-       -1.7520707107365752e-16,
-       -1.0408340855860843e-16,
+       -2.42861286636753e-17,
+       -1.5785983631388945e-16,
        0.0
       ]
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@@ -402,8 +402,8 @@
    "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
   },
   "narration_log": {
-   "frame_1741": {
-    "frame_idx": 1741,
+   "frame_1742": {
+    "frame_idx": 1742,
     "caption": "Pre-grasping the small block y, moving the arm toward it; the right gripper is below and to the left of and in front of the block y.",
     "skill": "Grasp",
     "phase": "pre_grasp",
@@ -433,8 +433,8 @@
      "in_front_of"
     ]
    },
-   "frame_1802": {
-    "frame_idx": 1802,
+   "frame_1804": {
+    "frame_idx": 1804,
     "caption": "Pre-grasping the small block y, moving the arm toward it; the right gripper is below the block y.",
     "skill": "Grasp",
     "phase": "pre_grasp",
@@ -447,8 +447,8 @@
      "below"
     ]
    },
-   "frame_1816": {
-    "frame_idx": 1816,
+   "frame_1817": {
+    "frame_idx": 1817,
     "caption": "Grasping the small block y, moving the arm in to make contact; the right gripper is below the block y.",
     "skill": "Grasp",
     "phase": "grasp",
@@ -461,8 +461,8 @@
      "below"
     ]
    },
-   "frame_1822": {
-    "frame_idx": 1822,
+   "frame_1823": {
+    "frame_idx": 1823,
     "caption": "Grasping the small block y, moving the arm in to make contact.",
     "skill": "Grasp",
     "phase": "grasp",
@@ -473,8 +473,8 @@
     "hand_id": 0,
     "eef_relation": []
    },
-   "frame_1866": {
-    "frame_idx": 1866,
+   "frame_1867": {
+    "frame_idx": 1867,
     "caption": "Closing the right gripper on the block y.",
     "skill": "Grasp",
     "phase": "close_gripper",
@@ -485,8 +485,8 @@
     "hand_id": 0,
     "eef_relation": []
    },
-   "frame_1926": {
-    "frame_idx": 1926,
+   "frame_1927": {
+    "frame_idx": 1927,
     "caption": "Lifting the block y away with the gripper.",
     "skill": "Grasp",
     "phase": "retrieval",
@@ -497,8 +497,8 @@
     "hand_id": 0,
     "eef_relation": []
    },
-   "frame_1927": {
-    "frame_idx": 1927,
+   "frame_1928": {
+    "frame_idx": 1928,
     "caption": "Lifting the block y away with the arm.",
     "skill": "Grasp",
     "phase": "retrieval",
@@ -509,8 +509,8 @@
     "hand_id": 0,
     "eef_relation": []
    },
-   "frame_1930": {
-    "frame_idx": 1930,
+   "frame_1931": {
+    "frame_idx": 1931,
     "caption": "Lifting the block y away with the arm; the right gripper is below the block y.",
     "skill": "Grasp",
     "phase": "retrieval",
@@ -523,8 +523,8 @@
      "below"
     ]
    },
-   "frame_1976": {
-    "frame_idx": 1976,
+   "frame_1977": {
+    "frame_idx": 1977,
     "caption": "Done — the small block y is grasped; the right gripper is below the block y.",
     "skill": "Grasp",
     "phase": "completed",

N059/stretch3/dr_on/seed_6009/data/record/stackblocks/000/lerobot_v21/meta/info.json

@@ -2,7 +2,7 @@
     "codebase_version": "v2.1",
     "robot_type": "HelloRobotCfg",
     "total_episodes": 1,
-    "total_frames": 1372,
+    "total_frames": 1373,
     "total_tasks": 1,
     "total_videos": 2,
     "total_chunks": 1,

N059/stretch3/dr_on/seed_6009/data/record/stackblocks/000/lerobot_v21/meta/magicsim_manifest.json

@@ -1,7 +1,7 @@
 {
     "schema_version": 1,
     "generated": {
-        "time": "2026-11-10 05:05:24"
+        "time": "2026-11-10 05:18:09"
     },
     "embodiment": {
         "robots": [

N059/stretch3/dr_on/seed_6009/data/record/stackblocks/000/lerobot_v21/meta/stats.json

@@ -1,30 +1,30 @@
 {
     "action": {
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@@ -44,44 +44,44 @@
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@@ -110,227 +110,227 @@
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