add N053/stretch3/dr_off/seed_1148

N053/stretch3/dr_off/seed_1148/rec/check.json

@@ -0,0 +1,57 @@
+{
+ "ok": true,
+ "results": {
+  "codebase v2.1": {
+   "pass": true,
+   "detail": "v2.1"
+  },
+  "dataset fps = 25": {
+   "pass": true,
+   "detail": "info.fps 25"
+  },
+  "parquet episodes": {
+   "pass": true,
+   "detail": "1 files, info.total_episodes=1"
+  },
+  "observation.state shape": {
+   "pass": true,
+   "detail": "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']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "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']"
+  },
+  "task text = MobileBench instruction": {
+   "pass": true,
+   "detail": "task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "2299 rows vs ceil(4598/2) = 2299"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 61..4657, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "23.56 MB, 2299 frames at 25 fps, mean luma 106..179, std 11, new picture 2298x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "2299 vs 2299"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "31.47 MB, 2299 frames at 25 fps, mean luma 98..165, std 28, new picture 2298x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "2299 vs 2299"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "memorystage/000/sim_info"
+  }
+ }
+}

N053/stretch3/dr_off/seed_1148/rec/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/sz850_atomic/n053_str_off_1148_r1/out/rec  task=N053  at verify_collect_dataset.py
+dataset root /mnt/scratch/sz850_atomic/n053_str_off_1148_r1/out/rec/memorystage/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 2299  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: 2299 rows, columns ['action', 'action_is_hold', 'observation.state', 'observation.joint_vel', 'observation.eef_pose', 'observation.environment_state', 'action.command', 'action.applied', 'narration', 'collect_info', 'extra.reward', 'extra.action_info', 'next.truncated', 'sim_step_idx', 'timestamp', 'frame_index', 'episode_index', 'index', 'task_index', 'next.done']
+[PASS] observation.state shape: parquet width 15, info shape [15], 15 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'joint_lift', 'joint_head_pan', 'joint_head_tilt']
+[PASS] action shape: parquet width 11, info shape [11], 11 names first: ['dummy_base_prismatic_x_joint', 'dummy_base_prismatic_y_joint', 'dummy_base_revolute_z_joint', 'arm_action_0', 'arm_action_1', 'arm_action_2']
+[PASS] task text = MobileBench instruction: task_index 0: 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'; expected 'Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.'
+rows 2299 at dataset fps 25 = 91.96 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2299 rows vs ceil(4598/2) = 2299
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..4657, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 23.56 MB, 2299 frames at 25 fps, mean luma 106..179, std 11, new picture 2298x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 2299 vs 2299
+[PASS] video observation.images.wrist decodes, 640x480, not black: 31.47 MB, 2299 frames at 25 fps, mean luma 98..165, std 28, new picture 2298x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 2299 vs 2299
+parquet size 4.51 MB
+[PASS] sim_info present: memorystage/000/sim_info
+dataset size 59.82 MB; whole cell dir 61.7 MB
+RESULT: ALL PASS

N053/stretch3/dr_off/seed_1148/rec/memorystage/000/completed/0.json

@@ -0,0 +1 @@
+{"run_id": "memorystage/000", "trajectory_id": 0, "env_id": 0, "formats": ["lerobot_v21", "sim_info"], "session_id": null}

N053/stretch3/dr_off/seed_1148/rec/memorystage/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:828f38ac5429e0053141d6fac86565c734329c499eb4bbb28345e1fdaef3b58d
+size 4514905

N053/stretch3/dr_off/seed_1148/rec/memorystage/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it."], "length": 2299, "magicsim/control_steps": 4598, "magicsim/subsample_every": 2, "magicsim/env_id": 0, "magicsim/trajectory_id": 0, "magicsim/scene_caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height."}

N053/stretch3/dr_off/seed_1148/rec/memorystage/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
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N053/stretch3/dr_off/seed_1148/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,557 @@
+{
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+ "env_id": 0,
+ "task_type": "MemoryStage",
+ "subsample_every": 2,
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+ "language": {
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+    {
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+     "size": "small",
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+    },
+    {
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+     "size": "small",
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+     "noun": "tag blue",
+     "color": "blue",
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+     "relation": "on_top_of",
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+    {
+     "subject": "st_wall_1",
+     "relation": "left_of",
+     "object": "rack_1"
+    },
+    {
+     "subject": "st_table_b_1",
+     "relation": "right_of",
+     "object": "pen_s1_1"
+    },
+    {
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+     "relation": "on_top_of",
+     "object": "rack_1"
+    },
+    {
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+     "relation": "behind",
+     "object": "rack_1"
+    },
+    {
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+     "relation": "on_top_of",
+     "object": "rack_1"
+    },
+    {
+     "subject": "st_booth_r_1",
+     "relation": "in_front_of",
+     "object": "rack_1"
+    },
+    {
+     "subject": "rack_1",
+     "relation": "on_top_of",
+     "object": "st_table_a_1"
+    },
+    {
+     "subject": "pen_s0_1",
+     "relation": "right_of",
+     "object": "tag_red_1"
+    },
+    {
+     "subject": "pen_s1_1",
+     "relation": "right_of",
+     "object": "tag_blue_1"
+    },
+    {
+     "subject": "pad_1",
+     "relation": "in_front_of",
+     "object": "pen_s1_1"
+    },
+    {
+     "subject": "tag_red_1",
+     "relation": "left_of",
+     "object": "pen_s0_1"
+    },
+    {
+     "subject": "tag_blue_1",
+     "relation": "left_of",
+     "object": "pen_s1_1"
+    }
+   ],
+   "cameras": [
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+     "intrinsics": {
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+       [
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+       [
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+      "fov_h_deg": 43.048473468183616,
+      "resolution": [
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+     },
+     "pos_robot": [
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+      2.2542981580824355,
+      1.2357226842221996
+     ],
+     "viewpoint": "front-left, slightly above table height",
+     "extrinsics": {
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+    {
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+     "intrinsics": {
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+     "viewpoint": "front-left, at table height",
+     "extrinsics": {
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+   ],
+   "robots": [
+    {
+     "name": "HelloRobot",
+     "model": "hellorobot",
+     "type": "mobilemanip",
+     "noun": "Hello Robot Stretch 3 mobile manipulator",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
+      "pos": [
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+       -2.5961,
+       0.06
+      ],
+      "ori": [
+       0.9986326694488525,
+       0.0,
+       0.0,
+       0.052276160567998886
+      ]
+     },
+     "facing_yaw_deg": 5.993138543992347,
+     "gripper": "parallel gripper"
+    }
+   ],
+   "lighting": [],
+   "background": {
+    "name": null,
+    "kind": "background",
+    "type": "dome",
+    "pose": null,
+    "setting": null,
+    "time_of_day": null,
+    "indoor": false,
+    "intensity": 1000.0,
+    "ambient": "dim"
+   },
+   "effects": [],
+   "caption": "A Hello Robot Stretch 3 mobile manipulator is positioned at the workspace, facing the rack. There are a large white st wall, a large gray st table a, a large gray st table b, a large white st booth l, a large white st booth r, a medium rack, a small pen s0, a small pen s1, a large gray pad, a large red tag red and a large blue tag blue. The white st wall is on top of the rack. The white st wall is to the left of the rack. The gray st table b is to the right of the pen s1. The white st booth l is on top of the rack. The white st booth l is behind the rack. The white st booth r is on top of the rack. The white st booth r is in front of the rack. The rack is on top of the gray st table a. The pen s0 is to the right of the red tag red. The pen s1 is to the right of the blue tag blue. The gray pad is in front of the pen s1. The red tag red is to the left of the pen s0. The blue tag blue is to the left of the pen s1. The scene is viewed from front-left, slightly above table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n [pad] [st booth r]\n[tag blue]ck]]le a]\n      [st booth l]\n\n\n\n\n\n                        [robot]"
+  },
+  "task": {
+   "task_type": "MemoryStage",
+   "instruction": "Watch which pen touches the red zone, then go around the partition and touch the target pad with the pen that did not touch it.",
+   "template_id": -1,
+   "slots": {
+    "obj": 3.141592653589793,
+    "support": null
+   },
+   "generic_instruction": "Memorystage the 3.141592653589793.",
+   "task_id": "N053",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {}
+ },
+ "depth_range": [
+  0.1,
+  20.0
+ ],
+ "annotation_sidecar": null,
+ "annotation_sidecar_keys": [],
+ "terminated": true,
+ "truncated": false
+}

N053/stretch3/dr_off/seed_1148/rec/memorystage/000/lerobot_v21/meta/info.json

@@ -0,0 +1,330 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "HelloRobotCfg",
+    "total_episodes": 1,
+    "total_frames": 2299,
+    "total_tasks": 1,
+    "total_videos": 2,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 25,
+    "splits": {
+        "train": "0:1"
+    },
+    "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet",
+    "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4",
+    "features": {
+        "action": {
+            "dtype": "float32",
+            "shape": [
+                11
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "arm_action_0",
+                "arm_action_1",
+                "arm_action_2",
+                "arm_action_3",
+                "arm_action_4",
+                "arm_action_5",
+                "arm_action_6",
+                "gripper"
+            ]
+        },
+        "action_is_hold": {
+            "dtype": "bool",
+            "shape": [
+                11
+            ],
+            "names": null
+        },
+        "observation.state": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "joint_lift",
+                "joint_head_pan",
+                "joint_head_tilt",
+                "joint_arm_l3",
+                "joint_arm_l2",
+                "joint_arm_l1",
+                "joint_arm_l0",
+                "joint_wrist_yaw",
+                "joint_wrist_pitch",
+                "joint_wrist_roll",
+                "joint_gripper_finger_left",
+                "joint_gripper_finger_right"
+            ]
+        },
+        "observation.joint_vel": {
+            "dtype": "float32",
+            "shape": [
+                15
+            ],
+            "names": [
+                "dummy_base_prismatic_x_joint",
+                "dummy_base_prismatic_y_joint",
+                "dummy_base_revolute_z_joint",
+                "joint_lift",
+                "joint_head_pan",
+                "joint_head_tilt",
+                "joint_arm_l3",
+                "joint_arm_l2",
+                "joint_arm_l1",
+                "joint_arm_l0",
+                "joint_wrist_yaw",
+                "joint_wrist_pitch",
+                "joint_wrist_roll",
+                "joint_gripper_finger_left",
+                "joint_gripper_finger_right"
+            ]
+        },
+        "observation.eef_pose": {
+            "dtype": "float32",
+            "shape": [
+                7
+            ],
+            "names": null
+        },
+        "observation.environment_state": {
+            "dtype": "float32",
+            "shape": [
+                81
+            ],
+            "names": [
+                "articulation_joint_pos.rack.0",
+                "articulation_joint_pos.rack.1",
+                "articulation_joint_vel.rack.0",
+                "articulation_joint_vel.rack.1",
+                "object_pose.pad.0",
+                "object_pose.pad.1",
+                "object_pose.pad.2",
+                "object_pose.pad.3",
+                "object_pose.pad.4",
+                "object_pose.pad.5",
+                "object_pose.pad.6",
+                "object_pose.pen_s0.0",
+                "object_pose.pen_s0.1",
+                "object_pose.pen_s0.2",
+                "object_pose.pen_s0.3",
+                "object_pose.pen_s0.4",
+                "object_pose.pen_s0.5",
+                "object_pose.pen_s0.6",
+                "object_pose.pen_s1.0",
+                "object_pose.pen_s1.1",
+                "object_pose.pen_s1.2",
+                "object_pose.pen_s1.3",
+                "object_pose.pen_s1.4",
+                "object_pose.pen_s1.5",
+                "object_pose.pen_s1.6",
+                "object_pose.rack.0",
+                "object_pose.rack.1",
+                "object_pose.rack.2",
+                "object_pose.rack.3",
+                "object_pose.rack.4",
+                "object_pose.rack.5",
+                "object_pose.rack.6",
+                "object_pose.st_booth_l.0",
+                "object_pose.st_booth_l.1",
+                "object_pose.st_booth_l.2",
+                "object_pose.st_booth_l.3",
+                "object_pose.st_booth_l.4",
+                "object_pose.st_booth_l.5",
+                "object_pose.st_booth_l.6",
+                "object_pose.st_booth_r.0",
+                "object_pose.st_booth_r.1",
+                "object_pose.st_booth_r.2",
+                "object_pose.st_booth_r.3",
+                "object_pose.st_booth_r.4",
+                "object_pose.st_booth_r.5",
+                "object_pose.st_booth_r.6",
+                "object_pose.st_table_a.0",
+                "object_pose.st_table_a.1",
+                "object_pose.st_table_a.2",
+                "object_pose.st_table_a.3",
+                "object_pose.st_table_a.4",
+                "object_pose.st_table_a.5",
+                "object_pose.st_table_a.6",
+                "object_pose.st_table_b.0",
+                "object_pose.st_table_b.1",
+                "object_pose.st_table_b.2",
+                "object_pose.st_table_b.3",
+                "object_pose.st_table_b.4",
+                "object_pose.st_table_b.5",
+                "object_pose.st_table_b.6",
+                "object_pose.st_wall.0",
+                "object_pose.st_wall.1",
+                "object_pose.st_wall.2",
+                "object_pose.st_wall.3",
+                "object_pose.st_wall.4",
+                "object_pose.st_wall.5",
+                "object_pose.st_wall.6",
+                "object_pose.tag_blue.0",
+                "object_pose.tag_blue.1",
+                "object_pose.tag_blue.2",
+                "object_pose.tag_blue.3",
+                "object_pose.tag_blue.4",
+                "object_pose.tag_blue.5",
+                "object_pose.tag_blue.6",
+                "object_pose.tag_red.0",
+                "object_pose.tag_red.1",
+                "object_pose.tag_red.2",
+                "object_pose.tag_red.3",
+                "object_pose.tag_red.4",
+                "object_pose.tag_red.5",
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+                640,
+                3
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+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
+            }
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+                640,
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+            "names": [
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+}

N053/stretch3/dr_off/seed_1148/rec/memorystage/000/lerobot_v21/meta/magicsim_manifest.json

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+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 05:53:57"
+    },
+    "embodiment": {
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+                "cfg": "HelloRobotCfg",
+                "type": "mobilemanip",
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+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
+                    "joint_lift",
+                    "joint_head_pan",
+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
+                    "joint_wrist_yaw",
+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
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+        "nan_policy": "from_raw",
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+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
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+                    "arm_action_2",
+                    "arm_action_3",
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+        "L1": "atomic-skill planner command dict (collect.atomic_skill_info / global_planner_info)",
+        "L2": "action.command \u2014 Collect GlobalPlanner output = Env PlannerManager input (NaN kept verbatim)",
+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
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+        "task_type": "MemoryStage"
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N053/stretch3/dr_off/seed_1148/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl

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

N053/stretch3/dr_off/seed_1148/rec/memorystage/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

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+size 23563414

N053/stretch3/dr_off/seed_1148/rec/memorystage/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

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N053/stretch3/dr_off/seed_1148/rec/memorystage/000/run_meta.json

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+    "collect_runtime": {
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+    }
+}

N053/stretch3/dr_off/seed_1148/rec/memorystage/000/sim_info/0/actions.npz

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N053/stretch3/dr_off/seed_1148/rec/memorystage/000/sim_info/0/scene_snapshot.json

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+    "run_id": "memorystage/000",
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+        "sim_dt": 0.005,
+        "decimation": 4
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+    "restore_interface": {
+        "scene": "scene_manager.reset_to(snapshot['scene'], env_ids=[env_id])",
+        "robots": "robot_manager.set_state({'robots': snapshot['robots']}, env_ids=[env_id])",
+        "avatars": "avatar_manager.set_avatars_state(snapshot['avatars'], env_ids=[env_id])  (present when the scene has animated avatars)"
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N053/stretch3/dr_off/seed_1148/rec/memorystage/000/sim_info/magicsim_manifest.json

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+        "L3": "action \u2014 PlannerManager output = RobotManager input; MAIN action; NaN resolved per nan_policy",
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+      "lerobot": {
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+}