add 1 staged episodes

N033/stretch3/dr_off/seed_1047/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: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'"
+  },
+  "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
+   "pass": true,
+   "detail": "2084 rows vs ceil(4168/2) = 2084"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 101..4267, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "20.98 MB, 2084 frames at 25 fps, mean luma 122..154, std 12, new picture 2083x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "2084 vs 2084"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "43.53 MB, 2084 frames at 25 fps, mean luma 118..154, std 28, new picture 2083x = 25.0 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "2084 vs 2084"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "rec/stationringstretch/000/sim_info"
+  }
+ }
+}

N033/stretch3/dr_off/seed_1047/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/xc536_atomic/n033_str_off_1047/out  task=N033  at verify_collect_dataset.py
+dataset root /mnt/scratch/xc536_atomic/n033_str_off_1047/out/rec/stationringstretch/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 2084  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: 2084 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: 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'; expected 'Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.'
+rows 2084 at dataset fps 25 = 83.36 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2084 rows vs ceil(4168/2) = 2084
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 101..4267, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 20.98 MB, 2084 frames at 25 fps, mean luma 122..154, std 12, new picture 2083x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 2084 vs 2084
+[PASS] video observation.images.wrist decodes, 640x480, not black: 43.53 MB, 2084 frames at 25 fps, mean luma 118..154, std 28, new picture 2083x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 2084 vs 2084
+parquet size 2.94 MB
+[PASS] sim_info present: rec/stationringstretch/000/sim_info
+dataset size 67.66 MB; whole cell dir 69.0 MB
+RESULT: ALL PASS

N033/stretch3/dr_off/seed_1047/rec/stationringstretch/000/completed/0.json

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

N033/stretch3/dr_off/seed_1047/rec/stationringstretch/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e49481313aeb479e154d57a5ce241c22cc9132a903a146d1382fab09a6b59eda
+size 2935331

N033/stretch3/dr_off/seed_1047/rec/stationringstretch/000/lerobot_v21/meta/episodes.jsonl

@@ -0,0 +1 @@
+{"episode_index": 0, "tasks": ["Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."], "length": 2084, "magicsim/control_steps": 4168, "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 brown rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is behind the brown rod stop. The brown rack back is to the left of the gray peg 1. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is behind the brown rod stop. The brown rod stop is in front of the white rod s. The scene is viewed from front, slightly above table height."}

N033/stretch3/dr_off/seed_1047/rec/stationringstretch/000/lerobot_v21/meta/episodes_stats.jsonl

@@ -0,0 +1 @@
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N033/stretch3/dr_off/seed_1047/rec/stationringstretch/000/lerobot_v21/meta/extra/episode_000000.json

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+    "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 brown rod stop. There are a large gray table A, a large gray table B, a medium brown rack back, a small gray peg 1, a small gray peg 2, a small ring, a small ring small, a small white rod h, a small white rod s and a small brown rod stop. The gray table B is behind the brown rod stop. The brown rack back is to the left of the gray peg 1. The white rod h is to the right of the white rod s. The white rod s is on top of the brown rod stop. The white rod s is behind the brown rod stop. The brown rod stop is in front of the white rod s. The scene is viewed from front, slightly above table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n                     [rod stop]\n\n\n\n                   [ring small]\n                 [[ring]\n\n\n[robot]"
+  },
+  "task": {
+   "task_type": "StationRingStretch",
+   "instruction": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end.",
+   "template_id": -1,
+   "slots": {
+    "obj": 3.109114820036684,
+    "support": null
+   },
+   "generic_instruction": "Stationringstretch the 3.109114820036684.",
+   "task_id": "N033",
+   "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
+}

N033/stretch3/dr_off/seed_1047/rec/stationringstretch/000/lerobot_v21/meta/info.json

@@ -0,0 +1,319 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "HelloRobotCfg",
+    "total_episodes": 1,
+    "total_frames": 2084,
+    "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",
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+        },
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+                "object_pose.peg_1.1",
+                "object_pose.peg_1.2",
+                "object_pose.peg_1.3",
+                "object_pose.peg_1.4",
+                "object_pose.peg_1.5",
+                "object_pose.peg_1.6",
+                "object_pose.peg_2.0",
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+                "object_pose.peg_2.2",
+                "object_pose.peg_2.3",
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+                "object_pose.peg_2.5",
+                "object_pose.peg_2.6",
+                "object_pose.rack_back.0",
+                "object_pose.rack_back.1",
+                "object_pose.rack_back.2",
+                "object_pose.rack_back.3",
+                "object_pose.rack_back.4",
+                "object_pose.rack_back.5",
+                "object_pose.rack_back.6",
+                "object_pose.ring.0",
+                "object_pose.ring.1",
+                "object_pose.ring.2",
+                "object_pose.ring.3",
+                "object_pose.ring.4",
+                "object_pose.ring.5",
+                "object_pose.ring.6",
+                "object_pose.ring_small.0",
+                "object_pose.ring_small.1",
+                "object_pose.ring_small.2",
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+                "object_pose.ring_small.4",
+                "object_pose.ring_small.5",
+                "object_pose.ring_small.6",
+                "object_pose.rod_h.0",
+                "object_pose.rod_h.1",
+                "object_pose.rod_h.2",
+                "object_pose.rod_h.3",
+                "object_pose.rod_h.4",
+                "object_pose.rod_h.5",
+                "object_pose.rod_h.6",
+                "object_pose.rod_s.0",
+                "object_pose.rod_s.1",
+                "object_pose.rod_s.2",
+                "object_pose.rod_s.3",
+                "object_pose.rod_s.4",
+                "object_pose.rod_s.5",
+                "object_pose.rod_s.6",
+                "object_pose.rod_stop.0",
+                "object_pose.rod_stop.1",
+                "object_pose.rod_stop.2",
+                "object_pose.rod_stop.3",
+                "object_pose.rod_stop.4",
+                "object_pose.rod_stop.5",
+                "object_pose.rod_stop.6",
+                "object_pose.table_A.0",
+                "object_pose.table_A.1",
+                "object_pose.table_A.2",
+                "object_pose.table_A.3",
+                "object_pose.table_A.4",
+                "object_pose.table_A.5",
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+                "object_pose.table_B.0",
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+                "object_pose.table_B.2",
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+            "shape": [
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+            "names": null
+        },
+        "observation.images.head": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25,
+                "video.codec": "libsvtav1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "observation.images.wrist": {
+            "dtype": "video",
+            "shape": [
+                480,
+                640,
+                3
+            ],
+            "names": [
+                "height",
+                "width",
+                "channels"
+            ],
+            "info": {
+                "video.fps": 25,
+                "video.codec": "libsvtav1",
+                "video.pix_fmt": "yuv420p",
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+                "video.height": 480,
+                "video.width": 640,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        }
+    }
+}

N033/stretch3/dr_off/seed_1047/rec/stationringstretch/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,259 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 07:17:23"
+    },
+    "embodiment": {
+        "robots": [
+            {
+                "name": "HelloRobot",
+                "cfg": "HelloRobotCfg",
+                "type": "mobilemanip",
+                "joint_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"
+                ]
+            }
+        ]
+    },
+    "timing": {
+        "fps": 50.0,
+        "fps_int": 50,
+        "sim_dt": 0.005,
+        "decimation": 4,
+        "note": "frames are control ticks; pending (planner-computing) ticks produce no frame \u2014 see per-frame sim_step_idx for real spacing"
+    },
+    "action_layout": {
+        "dim": 11,
+        "nan_policy": "from_raw",
+        "segments": [
+            {
+                "name": "HelloRobot.base_action",
+                "start": 0,
+                "end": 3,
+                "names": [
+                    "dummy_base_prismatic_x_joint",
+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint"
+                ],
+                "source": "HelloRobotBaseAction",
+                "names_source": "_joint_names"
+            },
+            {
+                "name": "HelloRobot.arm_action",
+                "start": 3,
+                "end": 10,
+                "names": [
+                    "arm_action_0",
+                    "arm_action_1",
+                    "arm_action_2",
+                    "arm_action_3",
+                    "arm_action_4",
+                    "arm_action_5",
+                    "arm_action_6"
+                ],
+                "source": "HelloRobotIKAction",
+                "names_source": "fallback"
+            },
+            {
+                "name": "HelloRobot.eef_action",
+                "start": 10,
+                "end": 11,
+                "names": [
+                    "gripper"
+                ],
+                "source": "BinaryJointPositionAction",
+                "names_source": "gripper"
+            }
+        ]
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+                "names": [
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+                    "dummy_base_prismatic_y_joint",
+                    "dummy_base_revolute_z_joint",
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+                    "joint_head_tilt",
+                    "joint_arm_l3",
+                    "joint_arm_l2",
+                    "joint_arm_l1",
+                    "joint_arm_l0",
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+                    "joint_wrist_pitch",
+                    "joint_wrist_roll",
+                    "joint_gripper_finger_left",
+                    "joint_gripper_finger_right"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "joint_vel_layout": {
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+        "segments": [
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+                "name": "HelloRobot.joint_vel",
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+                "end": 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"
+                ],
+                "source": "ObservationManager",
+                "names_source": "joint_names"
+            }
+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "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)"
+    },
+    "cameras": {
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+            "observation.images.wrist"
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+        "columns": [
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+            "extra.reward",
+            "frame_index",
+            "index",
+            "narration",
+            "next.done",
+            "next.truncated",
+            "observation.eef_pose",
+            "observation.environment_state",
+            "observation.images.head",
+            "observation.images.wrist",
+            "observation.joint_vel",
+            "observation.state",
+            "sim_step_idx",
+            "task_index",
+            "timestamp"
+        ]
+    },
+    "generated_run": {
+        "run_id": "stationringstretch/000",
+        "task_type": "RingStretchCommand"
+    }
+}

N033/stretch3/dr_off/seed_1047/rec/stationringstretch/000/lerobot_v21/meta/tasks.jsonl

@@ -0,0 +1 @@
+{"task_index": 0, "task": "Go to the first table, pick up the large ring (not the small one), carry it to the bent rod, slide it on from the open end, and push it along the rod to the end."}

N033/stretch3/dr_off/seed_1047/rec/stationringstretch/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

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N033/stretch3/dr_off/seed_1047/rec/stationringstretch/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

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N033/stretch3/dr_off/seed_1047/rec/stationringstretch/000/run_meta.json

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+{
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+    "created": "2026-11-08 07:00:22",
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+    "record_config": {
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N033/stretch3/dr_off/seed_1047/rec/stationringstretch/000/sim_info/0/actions.npz

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N033/stretch3/dr_off/seed_1047/rec/stationringstretch/000/sim_info/0/sim_states.npz

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N033/stretch3/dr_off/seed_1047/rec/stationringstretch/000/sim_info/magicsim_manifest.json

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+        ]
+    },
+    "action_levels": {
+        "L0": "task command list (collect.auto_collect_info.current_action)",
+        "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)"
+    },
+    "cameras": {
+        "head": {
+            "intrinsics": {
+                "K": [
+                    [
+                        811.3606627541883,
+                        0.0,
+                        320.0
+                    ],
+                    [
+                        0.0,
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+                    [
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+                        0.0,
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+                "fov_h_deg": 43.048473468183616,
+                "resolution": [
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+                    480
+                ]
+            },
+            "pos": [
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+        "wrist": {
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+                    [
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+                ],
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+                "resolution": [
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+                    480
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+            },
+            "pos": [
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+                1.7244702803509426e-06,
+                0.9961962699890137,
+                0.08713743835687637
+            ]
+        }
+    },
+    "generated_run": {
+        "run_id": "stationringstretch/000",
+        "task_type": "RingStretchCommand"
+    }
+}

N033/stretch3/dr_off/seed_1047/report.episodes.jsonl

@@ -0,0 +1 @@
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N033/stretch3/dr_off/seed_1047/report.json

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