add N053/go2_arm/dr_on/seed_2135

N053/go2_arm/dr_on/seed_2135/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 26, info shape [26], 26 names first: ['joint_0', 'joint_1', 'joint_2', 'joint_3', 'joint_4', 'joint_5']"
+  },
+  "action shape": {
+   "pass": true,
+   "detail": "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']"
+  },
+  "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": "1152 rows vs ceil(2304/2) = 1152"
+  },
+  "rows are every 2nd control step (sim_step_idx)": {
+   "pass": true,
+   "detail": "sim_step_idx 61..2363, step differences [2]"
+  },
+  "video observation.images.head decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "9.34 MB, 1152 frames at 25 fps, mean luma 47..139, std 46, new picture 1151x = 25.0 per s"
+  },
+  "video observation.images.head frames = parquet rows": {
+   "pass": true,
+   "detail": "1152 vs 1152"
+  },
+  "video observation.images.wrist decodes, 640x480, not black": {
+   "pass": true,
+   "detail": "15.65 MB, 1152 frames at 25 fps, mean luma 79..134, std 31, new picture 1147x = 24.9 per s"
+  },
+  "video observation.images.wrist frames = parquet rows": {
+   "pass": true,
+   "detail": "1152 vs 1152"
+  },
+  "sim_info present": {
+   "pass": true,
+   "detail": "memorystage/000/sim_info"
+  }
+ }
+}

N053/go2_arm/dr_on/seed_2135/rec/check.txt

@@ -0,0 +1,21 @@
+collect dataset check  cell=/mnt/scratch/sz850_atomic/n053_go2_on_2135/out/rec  task=N053  at verify_collect_dataset.py
+dataset root /mnt/scratch/sz850_atomic/n053_go2_on_2135/out/rec/memorystage/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1152  videos 2  robot_type Go2PlusCfg
+[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: 1152 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 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 1152 at dataset fps 25 = 46.08 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1152 rows vs ceil(2304/2) = 1152
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 61..2363, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 9.34 MB, 1152 frames at 25 fps, mean luma 47..139, std 46, new picture 1151x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1152 vs 1152
+[PASS] video observation.images.wrist decodes, 640x480, not black: 15.65 MB, 1152 frames at 25 fps, mean luma 79..134, std 31, new picture 1147x = 24.9 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1152 vs 1152
+parquet size 3.19 MB
+[PASS] sim_info present: memorystage/000/sim_info
+dataset size 28.50 MB; whole cell dir 29.9 MB
+RESULT: ALL PASS

N053/go2_arm/dr_on/seed_2135/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/go2_arm/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4423e52566c44845bc37b9cbbd3d97ffe42990874261176b69debf173b5842f5
+size 3188601

N053/go2_arm/dr_on/seed_2135/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": 1152, "magicsim/control_steps": 2304, "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 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 to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right 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, at table height."}

N053/go2_arm/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/extra/episode_000000.json

@@ -0,0 +1,557 @@
+{
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+ "task_type": "MemoryStage",
+ "subsample_every": 2,
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+ "language": {
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+    {
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+     "cat_name": "st_booth_r",
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+     "noun": "st booth r",
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+     "category": "geometry",
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+    {
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+     "relation": "on_top_of",
+     "object": "st_table_a_1"
+    },
+    {
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+     "relation": "right_of",
+     "object": "tag_red_1"
+    },
+    {
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+     "relation": "right_of",
+     "object": "tag_blue_1"
+    },
+    {
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+     "relation": "in_front_of",
+     "object": "pen_s1_1"
+    },
+    {
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+   ],
+   "robots": [
+    {
+     "name": "Go2Plus",
+     "model": "go2plus",
+     "type": "mobilemanip",
+     "noun": "Unitree Go2 EDU quadruped with a Piper arm",
+     "arms": 1,
+     "arm_layout": null,
+     "mobile": true,
+     "dexterous": false,
+     "base_pose": {
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+       0.45
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+      "ori": [
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+       0.0,
+       0.07468041032552719
+      ]
+     },
+     "facing_yaw_deg": 8.565719362713654,
+     "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": "An Unitree Go2 EDU quadruped with a Piper arm 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 to the left of the rack. The white st booth r is on top of the rack. The white st booth r is to the right 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, at table height.",
+   "layout_ascii": "  +x forward / +y left  (top-down view)\n  [pad]  [st booth r]\n[tag blue]ack]ble 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": 1.5707963267948966,
+    "support": null
+   },
+   "generic_instruction": "Memorystage the 1.5707963267948966.",
+   "task_id": "N053",
+   "instruction_source": "magicsim/Task/MobileBench/instructions.tsv"
+  },
+  "narration_log": {}
+ },
+ "depth_range": [
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+ "truncated": false
+}

N053/go2_arm/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/info.json

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+{
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+    "total_chunks": 1,
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+    "splits": {
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+}

N053/go2_arm/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/magicsim_manifest.json

@@ -0,0 +1,290 @@
+{
+    "schema_version": 1,
+    "generated": {
+        "time": "2026-11-08 04:34:46"
+    },
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N053/go2_arm/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/meta/tasks.jsonl

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N053/go2_arm/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

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N053/go2_arm/dr_on/seed_2135/rec/memorystage/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

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N053/go2_arm/dr_on/seed_2135/rec/memorystage/000/run_meta.json

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N053/go2_arm/dr_on/seed_2135/rec/memorystage/000/sim_info/0/sim_states.npz

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N053/go2_arm/dr_on/seed_2135/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",
+        "L4": "action.applied \u2014 per-term processed action actually applied to sim (dims may differ from L3)"
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+}

N053/go2_arm/dr_on/seed_2135/rec/memorystage/000/visual_dr.json

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+}

N053/go2_arm/dr_on/seed_2135/report.json

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