add N059/go2_arm/dr_on/seed_6010

N059/go2_arm/dr_on/seed_6010/data/record/check.json

@@ -27,27 +27,27 @@
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,
-   "detail": "2018 rows vs ceil(4035/2) = 2018"
+   "detail": "1913 rows vs ceil(3825/2) = 1913"
   },
   "rows are every 2nd control step (sim_step_idx)": {
    "pass": true,
-   "detail": "sim_step_idx 91..4125, step differences [2]"
+   "detail": "sim_step_idx 91..3915, step differences [2]"
   },
   "video observation.images.head decodes, 640x480, not black": {
    "pass": true,
-   "detail": "39.42 MB, 2018 frames at 25 fps, mean luma 51..146, std 42, new picture 2017x = 25.0 per s"
+   "detail": "37.43 MB, 1913 frames at 25 fps, mean luma 49..148, std 42, new picture 1912x = 25.0 per s"
   },
   "video observation.images.head frames = parquet rows": {
    "pass": true,
-   "detail": "2018 vs 2018"
+   "detail": "1913 vs 1913"
   },
   "video observation.images.wrist decodes, 640x480, not black": {
    "pass": true,
-   "detail": "47.35 MB, 2018 frames at 25 fps, mean luma 58..126, std 28, new picture 2017x = 25.0 per s"
+   "detail": "45.41 MB, 1913 frames at 25 fps, mean luma 58..127, std 28, new picture 1912x = 25.0 per s"
   },
   "video observation.images.wrist frames = parquet rows": {
    "pass": true,
-   "detail": "2018 vs 2018"
+   "detail": "1913 vs 1913"
   },
   "sim_info present": {
    "pass": true,

N059/go2_arm/dr_on/seed_6010/data/record/check.txt

@@ -1,21 +1,21 @@
 collect dataset check  cell=/mnt/scratch/sz850_atomic/n059_go2_on_6010/out/data/record  task=N059  at verify_collect_dataset.py
-dataset root /mnt/scratch/sz850_atomic/n059_go2_on_6010/out/data/record/stackblocksgo2/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 2018  videos 2  robot_type Go2PlusCfg
+dataset root /mnt/scratch/sz850_atomic/n059_go2_on_6010/out/data/record/stackblocksgo2/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1913  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: 2018 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: 1913 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: '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 2018 at dataset fps 25 = 80.72 s
-[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2018 rows vs ceil(4035/2) = 2018
-[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 91..4125, step differences [2]
-[PASS] video observation.images.head decodes, 640x480, not black: 39.42 MB, 2018 frames at 25 fps, mean luma 51..146, std 42, new picture 2017x = 25.0 per s
-[PASS] video observation.images.head frames = parquet rows: 2018 vs 2018
-[PASS] video observation.images.wrist decodes, 640x480, not black: 47.35 MB, 2018 frames at 25 fps, mean luma 58..126, std 28, new picture 2017x = 25.0 per s
-[PASS] video observation.images.wrist frames = parquet rows: 2018 vs 2018
-parquet size 3.41 MB
+rows 1913 at dataset fps 25 = 76.52 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1913 rows vs ceil(3825/2) = 1913
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 91..3915, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 37.43 MB, 1913 frames at 25 fps, mean luma 49..148, std 42, new picture 1912x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1913 vs 1913
+[PASS] video observation.images.wrist decodes, 640x480, not black: 45.41 MB, 1913 frames at 25 fps, mean luma 58..127, std 28, new picture 1912x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1913 vs 1913
+parquet size 3.31 MB
 [PASS] sim_info present: stackblocksgo2/000/sim_info
-dataset size 90.42 MB; whole cell dir 92.3 MB
+dataset size 86.38 MB; whole cell dir 88.2 MB
 RESULT: ALL PASS

N059/go2_arm/dr_on/seed_6010/data/record/stackblocksgo2/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -1,3 +1,3 @@
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-size 3411981
+oid sha256:de149e861badfad129199b528825e6868db7ec1b76b92d3d9d7f7cbc47d4f4d9
+size 3308120

N059/go2_arm/dr_on/seed_6010/data/record/stackblocksgo2/000/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": 2018, "magicsim/control_steps": 4035, "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 demo y. 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 y. The gray table b is to the left of the block y. The white partition is to the left of the block y. The demo x is on top of the demo y. The block x is to the right of the block y. The block y is on top of the gray table b. The block y is to the right of the gray table b. The scene is viewed from front, at 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": 1913, "magicsim/control_steps": 3825, "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 demo y. 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 y. The gray table b is to the left of the block y. The white partition is to the left of the block y. The demo x is on top of the demo y. The block x is to the right of the block y. The block y is on top of the gray table b. The block y is to the right of the gray table b. The scene is viewed from front, at table height."}

N059/go2_arm/dr_on/seed_6010/data/record/stackblocksgo2/000/lerobot_v21/meta/extra/episode_000000.json

@@ -4,7 +4,7 @@
  "env_id": 0,
  "task_type": "StackBlocksGo2",
  "subsample_every": 2,
- "control_steps": 4035,
+ "control_steps": 3825,
  "language": {
   "scene": {
    "objects": [
@@ -99,19 +99,19 @@
      "material": null,
      "category": "rigid",
      "pos": [
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+      2.9077895321901432,
+      3.3774745629778335,
+      -0.023943902581196212
      ],
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       "extent": [
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+       0.041871720678993585,
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+       0.06000386797964902
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+       -3.642919299551295e-17,
+       1.7520707107365752e-16,
        -2.7755575615628914e-17
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@@ -126,20 +126,20 @@
      "material": null,
      "category": "rigid",
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+      2.9069890820372373,
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+      -0.07893446643775863
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      "bbox": {
       "extent": [
-       0.04971520371906518,
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+       0.04971746673112477,
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+       0.05000209128161204
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@@ -159,14 +159,14 @@
      ],
      "bbox": {
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+       0.03200024657958139,
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+       0.06000201427786023
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+       -2.7582103268031233e-16,
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+       0.0
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@@ -186,13 +186,13 @@
      ],
      "bbox": {
       "extent": [
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+       0.03800018702388466,
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+       0.05000017669083623
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       "center": [
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+       1.960237527853792e-16,
+       3.434752482434078e-16,
        5.551115123125783e-17
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N059/go2_arm/dr_on/seed_6010/data/record/stackblocksgo2/000/lerobot_v21/meta/info.json

@@ -2,7 +2,7 @@
     "codebase_version": "v2.1",
     "robot_type": "Go2PlusCfg",
     "total_episodes": 1,
-    "total_frames": 2018,
+    "total_frames": 1913,
     "total_tasks": 1,
     "total_videos": 2,
     "total_chunks": 1,

N059/go2_arm/dr_on/seed_6010/data/record/stackblocksgo2/000/lerobot_v21/meta/magicsim_manifest.json

@@ -1,7 +1,7 @@
 {
     "schema_version": 1,
     "generated": {
-        "time": "2026-11-10 00:55:05"
+        "time": "2026-11-10 05:14:30"
     },
     "embodiment": {
         "robots": [

N059/go2_arm/dr_on/seed_6010/data/record/stackblocksgo2/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

@@ -1,3 +1,3 @@
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+size 37428197

N059/go2_arm/dr_on/seed_6010/data/record/stackblocksgo2/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

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N059/go2_arm/dr_on/seed_6010/data/record/stackblocksgo2/000/run_meta.json

@@ -1,6 +1,6 @@
 {
     "run_id": "stackblocksgo2/000",
-    "created": "2026-11-10 00:41:43",
+    "created": "2026-11-10 05:00:55",
     "num_envs": 1,
     "session_id": null,
     "record_config": {

N059/go2_arm/dr_on/seed_6010/data/record/stackblocksgo2/000/sim_info/0/actions.npz

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+size 720937

N059/go2_arm/dr_on/seed_6010/data/record/stackblocksgo2/000/sim_info/0/scene_snapshot.json

@@ -165,15 +165,15 @@
                             "asset": "/mnt/scratch/sz850_cache/MagicSim4_b3820fd82e/Assets/StationMemory/sm_block_x_v2/Object.usd",
                             "pose": {
                                 "pos": [
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@@ -202,14 +202,14 @@
                             },
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@@ -219,15 +219,15 @@
                             "asset": "/mnt/scratch/sz850_cache/MagicSim4_b3820fd82e/Assets/StationMemory/sm_block_y_v2/Object.usd",
                             "pose": {
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@@ -256,14 +256,14 @@
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@@ -279,9 +279,9 @@
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@@ -327,15 +327,15 @@
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                                 "pos": [
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                         }

N059/go2_arm/dr_on/seed_6010/data/record/stackblocksgo2/000/sim_info/0/sim_states.npz

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N059/go2_arm/dr_on/seed_6010/data/record/stackblocksgo2/000/sim_info/magicsim_manifest.json

@@ -1,7 +1,7 @@
 {
     "schema_version": 1,
     "generated": {
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+        "time": "2026-11-10 05:14:53"
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