add N058/sawyer_umi/dr_on/seed_2035

N058/sawyer_umi/dr_on/seed_2035/data/config_resolved.yaml

@@ -798,7 +798,7 @@ collect:
     task_type: station
     max_trajectories: 1
   record:
-    output_dir: /mnt/scratch/sz850_atomic/n058_saw_on_2035/out/data/record
+    output_dir: /mnt/scratch/sz850_atomic/n058_saw_on_2035_r1/out/data/record
     formats:
     - lerobot_v21
     - sim_info

N058/sawyer_umi/dr_on/seed_2035/data/record/check.json

@@ -27,27 +27,27 @@
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,
-   "detail": "2634 rows vs ceil(5267/2) = 2634"
+   "detail": "2633 rows vs ceil(5265/2) = 2633"
   },
   "rows are every 2nd control step (sim_step_idx)": {
    "pass": true,
-   "detail": "sim_step_idx 91..5357, step differences [2]"
+   "detail": "sim_step_idx 91..5355, step differences [2]"
   },
   "video observation.images.head decodes, 640x480, not black": {
    "pass": true,
-   "detail": "86.06 MB, 2634 frames at 25 fps, mean luma 68..106, std 41, new picture 2633x = 25.0 per s"
+   "detail": "85.72 MB, 2633 frames at 25 fps, mean luma 68..106, std 41, new picture 2632x = 25.0 per s"
   },
   "video observation.images.head frames = parquet rows": {
    "pass": true,
-   "detail": "2634 vs 2634"
+   "detail": "2633 vs 2633"
   },
   "video observation.images.wrist decodes, 640x480, not black": {
    "pass": true,
-   "detail": "56.72 MB, 2634 frames at 25 fps, mean luma 73..120, std 32, new picture 2633x = 25.0 per s"
+   "detail": "56.58 MB, 2633 frames at 25 fps, mean luma 73..120, std 32, new picture 2632x = 25.0 per s"
   },
   "video observation.images.wrist frames = parquet rows": {
    "pass": true,
-   "detail": "2634 vs 2634"
+   "detail": "2633 vs 2633"
   },
   "sim_info present": {
    "pass": true,

N058/sawyer_umi/dr_on/seed_2035/data/record/check.txt

@@ -1,21 +1,21 @@
-collect dataset check  cell=/mnt/scratch/sz850_atomic/n058_saw_on_2035/out/data/record  task=N058  at verify_collect_dataset.py
-dataset root /mnt/scratch/sz850_atomic/n058_saw_on_2035/out/data/record/ordertapsawyer/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 2634  videos 2  robot_type RidgebackSawyerUmiCfg
+collect dataset check  cell=/mnt/scratch/sz850_atomic/n058_saw_on_2035_r1/out/data/record  task=N058  at verify_collect_dataset.py
+dataset root /mnt/scratch/sz850_atomic/n058_saw_on_2035_r1/out/data/record/ordertapsawyer/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 2633  videos 2  robot_type RidgebackSawyerUmiCfg
 [PASS] codebase v2.1: v2.1
 [PASS] dataset fps = 25: info.fps 25
 (no `lerobot` python given (--lerobot-python / LEROBOT_PY): loading with pyarrow + meta/info.json only)
 [PASS] parquet episodes: 1 files, info.total_episodes=1
---- episode file episode_000000.parquet: 2634 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: 2633 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
 [PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'right_j0', 'head_pan', 'right_j1']
 [PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'frame0.pos_x', 'frame0.pos_y', 'frame0.pos_z']
 [PASS] task text = MobileBench instruction: task_index 0: 'Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order.'; expected 'Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order.'
-rows 2634 at dataset fps 25 = 105.36 s
-[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2634 rows vs ceil(5267/2) = 2634
-[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 91..5357, step differences [2]
-[PASS] video observation.images.head decodes, 640x480, not black: 86.06 MB, 2634 frames at 25 fps, mean luma 68..106, std 41, new picture 2633x = 25.0 per s
-[PASS] video observation.images.head frames = parquet rows: 2634 vs 2634
-[PASS] video observation.images.wrist decodes, 640x480, not black: 56.72 MB, 2634 frames at 25 fps, mean luma 73..120, std 32, new picture 2633x = 25.0 per s
-[PASS] video observation.images.wrist frames = parquet rows: 2634 vs 2634
-parquet size 3.20 MB
+rows 2633 at dataset fps 25 = 105.32 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2633 rows vs ceil(5265/2) = 2633
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 91..5355, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 85.72 MB, 2633 frames at 25 fps, mean luma 68..106, std 41, new picture 2632x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 2633 vs 2633
+[PASS] video observation.images.wrist decodes, 640x480, not black: 56.58 MB, 2633 frames at 25 fps, mean luma 73..120, std 32, new picture 2632x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 2633 vs 2633
+parquet size 3.21 MB
 [PASS] sim_info present: ordertapsawyer/000/sim_info
-dataset size 146.30 MB; whole cell dir 148.1 MB
+dataset size 145.82 MB; whole cell dir 147.6 MB
 RESULT: ALL PASS

N058/sawyer_umi/dr_on/seed_2035/data/record/ordertapsawyer/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -1,3 +1,3 @@
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-oid sha256:b2a187163383ac975bb1031c8fb8d54c5139f59905aa3376941b7aa04941855b
-size 3203593
+oid sha256:d2a793ed5537ad1bed558c06368ba6d080f7ac4887b95d32602eb3b23dfe9ddf
+size 3209380

N058/sawyer_umi/dr_on/seed_2035/data/record/ordertapsawyer/000/lerobot_v21/meta/episodes.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "tasks": ["Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order."], "length": 2634, "magicsim/control_steps": 5267, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the tapper. There are a large gray table a, a large gray table b, a large white partition, a large gray pad L, a large yellow lit L, a large gray pad R, a large yellow lit R, a large gray rack b post0, a large gray rack b post1 and a small tapper. The gray table a is behind the gray pad L. The gray table b is to the left of the gray rack b post1. The white partition is to the right of the yellow lit R. The gray rack b post0 is on top of the tapper. The gray rack b post0 is to the left of the tapper. The tapper is on top of the gray rack b post1. The scene is viewed from right, at table height."}
+{"episode_index": 0, "tasks": ["Watch the order in which the two pads light up, fetch the mallet from the rack, and tap the pads in that same order."], "length": 2633, "magicsim/control_steps": 5265, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Ridgeback-Sawyer mobile manipulator with a UMI gripper is positioned at the workspace, facing the tapper. There are a large gray table a, a large gray table b, a large white partition, a large gray pad L, a large yellow lit L, a large gray pad R, a large yellow lit R, a large gray rack b post0, a large gray rack b post1 and a small tapper. The gray table a is behind the gray pad L. The gray table b is to the left of the gray rack b post1. The white partition is to the right of the yellow lit R. The gray rack b post0 is on top of the tapper. The gray rack b post0 is to the left of the tapper. The tapper is on top of the gray rack b post1. The scene is viewed from right, at table height."}

N058/sawyer_umi/dr_on/seed_2035/data/record/ordertapsawyer/000/lerobot_v21/meta/extra/episode_000000.json

@@ -4,7 +4,7 @@
  "env_id": 0,
  "task_type": "OrderTapSawyer",
  "subsample_every": 2,
- "control_steps": 5267,
+ "control_steps": 5265,
  "language": {
   "scene": {
    "objects": [
@@ -261,20 +261,20 @@
      "material": null,
      "category": "rigid",
      "pos": [
-      0.33206168562173843,
-      0.3868794044999917,
-      -6.522923786496017
+      0.33206165581941605,
+      0.3868784979101165,
+      -6.522923406452705
      ],
      "bbox": {
       "extent": [
-       0.23004337576639322,
-       0.0668614732655796,
-       0.05816119009672249
+       0.23004254026275803,
+       0.0668661373300411,
+       0.05816962166518147
       ],
       "center": [
-       0.015004438537061938,
-       -2.6935685977218238e-05,
-       -0.013010314975278436
+       0.015004371582528084,
+       -2.6257040479014254e-05,
+       -0.01301034979399135
       ]
      }
     }

N058/sawyer_umi/dr_on/seed_2035/data/record/ordertapsawyer/000/lerobot_v21/meta/info.json

@@ -2,7 +2,7 @@
     "codebase_version": "v2.1",
     "robot_type": "RidgebackSawyerUmiCfg",
     "total_episodes": 1,
-    "total_frames": 2634,
+    "total_frames": 2633,
     "total_tasks": 1,
     "total_videos": 2,
     "total_chunks": 1,

N058/sawyer_umi/dr_on/seed_2035/data/record/ordertapsawyer/000/lerobot_v21/meta/magicsim_manifest.json

@@ -1,7 +1,7 @@
 {
     "schema_version": 1,
     "generated": {
-        "time": "2026-11-07 23:18:00"
+        "time": "2026-11-08 02:12:20"
     },
     "embodiment": {
         "robots": [

N058/sawyer_umi/dr_on/seed_2035/data/record/ordertapsawyer/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

@@ -1,3 +1,3 @@
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-oid sha256:91574b489f08738f1e03e5e4d8fe1b44f21adef321397266ed74239ba25f6a72
-size 86062632
+oid sha256:20093b7f1da936ae6dcd7e68efbf9c977270fa2011b51ef926113a7f1175302c
+size 85721892

N058/sawyer_umi/dr_on/seed_2035/data/record/ordertapsawyer/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

@@ -1,3 +1,3 @@
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-oid sha256:31084bde174fe9ac19711c64cb3fff59881a6a36e0ca687963933704a1bfe728
-size 56716896
+oid sha256:37d441ac66512b8441aae35b6cf08f88c1fc53ba1a7774614b0bd337a3c08426
+size 56575414

N058/sawyer_umi/dr_on/seed_2035/data/record/ordertapsawyer/000/run_meta.json

@@ -1,10 +1,10 @@
 {
     "run_id": "ordertapsawyer/000",
-    "created": "2026-11-07 22:50:44",
+    "created": "2026-11-08 01:45:10",
     "num_envs": 1,
     "session_id": null,
     "record_config": {
-        "output_dir": "/mnt/scratch/sz850_atomic/n058_saw_on_2035/out/data/record",
+        "output_dir": "/mnt/scratch/sz850_atomic/n058_saw_on_2035_r1/out/data/record",
         "formats": [
             "lerobot_v21",
             "sim_info"
@@ -1077,7 +1077,7 @@
                 "max_trajectories": 1
             },
             "record": {
-                "output_dir": "/mnt/scratch/sz850_atomic/n058_saw_on_2035/out/data/record",
+                "output_dir": "/mnt/scratch/sz850_atomic/n058_saw_on_2035_r1/out/data/record",
                 "formats": [
                     "lerobot_v21",
                     "sim_info"

N058/sawyer_umi/dr_on/seed_2035/data/record/ordertapsawyer/000/sim_info/0/actions.npz

@@ -1,3 +1,3 @@
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-oid sha256:48acd30d53e4ea66d147a82774a52c3ff8e1358f691d209051913476b8577f0b
-size 524678
+oid sha256:98e08f76b3a4e989120730ca787eda2a2c48afd139c2179e4ecdb1dabab72364
+size 525869

N058/sawyer_umi/dr_on/seed_2035/data/record/ordertapsawyer/000/sim_info/0/scene_snapshot.json

@@ -447,15 +447,15 @@
                             "asset": "/scratch/sz850/magicsim_atomic/MagicSim2/Assets/StationMemory/sm_tapper/Object.usd",
                             "pose": {
                                 "pos": [
-                                    1.900000810623169,
-                                    2.219128131866455,
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+                                    1.9000005722045898,
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+                                    0.39206162095069885
                                 ],
                                 "ori": [
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                                 "scale": [
                                     1.0,
@@ -484,14 +484,14 @@
                             },
                             "type_specific": {
                                 "linear_velocity": [
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+                                    2.9684952096431516e-06,
+                                    0.00026742019690573215,
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                         }
@@ -701,15 +701,15 @@
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N058/sawyer_umi/dr_on/seed_2035/data/record/ordertapsawyer/000/sim_info/0/sim_states.npz

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N058/sawyer_umi/dr_on/seed_2035/data/record/ordertapsawyer/000/sim_info/magicsim_manifest.json

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