add N045/sawyer_umi/dr_on/seed_6002

N045/sawyer_umi/dr_on/seed_6002/check.json

@@ -27,7 +27,7 @@
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,
-   "detail": "1333 rows vs ceil(2665/2) = 1333"
+   "detail": "1333 rows vs ceil(2666/2) = 1333"
   },
   "rows are every 2nd control step (sim_step_idx)": {
    "pass": true,
@@ -35,7 +35,7 @@
   },
   "video observation.images.head decodes, 640x480, not black": {
    "pass": true,
-   "detail": "34.60 MB, 1333 frames at 25 fps, mean luma 55..149, std 48, new picture 1332x = 25.0 per s"
+   "detail": "34.74 MB, 1333 frames at 25 fps, mean luma 55..149, std 48, new picture 1332x = 25.0 per s"
   },
   "video observation.images.head frames = parquet rows": {
    "pass": true,
@@ -43,7 +43,7 @@
   },
   "video observation.images.wrist decodes, 640x480, not black": {
    "pass": true,
-   "detail": "32.70 MB, 1333 frames at 25 fps, mean luma 87..134, std 51, new picture 1332x = 25.0 per s"
+   "detail": "32.91 MB, 1333 frames at 25 fps, mean luma 87..134, std 51, new picture 1332x = 25.0 per s"
   },
   "video observation.images.wrist frames = parquet rows": {
    "pass": true,

N045/sawyer_umi/dr_on/seed_6002/check.txt

@@ -9,13 +9,13 @@ dataset root /mnt/scratch/sz850_atomic/n045_saw_on_6002/out/phaserun/000/lerobot
 [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: 'Go to the faucet, wait for the person standing there to walk away, then push its lever over to turn it off.'; expected 'Go to the faucet, wait for the person standing there to walk away, then push its lever over to turn it off.'
 rows 1333 at dataset fps 25 = 53.32 s
-[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1333 rows vs ceil(2665/2) = 1333
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1333 rows vs ceil(2666/2) = 1333
 [PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 151..2815, step differences [2]
-[PASS] video observation.images.head decodes, 640x480, not black: 34.60 MB, 1333 frames at 25 fps, mean luma 55..149, std 48, new picture 1332x = 25.0 per s
+[PASS] video observation.images.head decodes, 640x480, not black: 34.74 MB, 1333 frames at 25 fps, mean luma 55..149, std 48, new picture 1332x = 25.0 per s
 [PASS] video observation.images.head frames = parquet rows: 1333 vs 1333
-[PASS] video observation.images.wrist decodes, 640x480, not black: 32.70 MB, 1333 frames at 25 fps, mean luma 87..134, std 51, new picture 1332x = 25.0 per s
+[PASS] video observation.images.wrist decodes, 640x480, not black: 32.91 MB, 1333 frames at 25 fps, mean luma 87..134, std 51, new picture 1332x = 25.0 per s
 [PASS] video observation.images.wrist frames = parquet rows: 1333 vs 1333
 parquet size 3.95 MB
 [PASS] sim_info present: phaserun/000/sim_info
-dataset size 71.59 MB; whole cell dir 75.9 MB
+dataset size 71.93 MB; whole cell dir 76.2 MB
 RESULT: ALL PASS

N045/sawyer_umi/dr_on/seed_6002/phaserun/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -1,3 +1,3 @@
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-oid sha256:739115d2021009b5395f478e28b15da8e2d4743d2ef9e360f53a9c793e8f7af1
-size 3947387
+oid sha256:21191ac3a67340f658c157db3662516a56a1fca82966e533f31533675b0d10f4
+size 3946610

N045/sawyer_umi/dr_on/seed_6002/phaserun/000/lerobot_v21/meta/episodes.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "tasks": ["Go to the faucet, wait for the person standing there to walk away, then push its lever over to turn it off."], "length": 1333, "magicsim/control_steps": 2665, "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 gray plinth. There are a large gray plinth and a large faucet. The faucet is on top of the gray plinth. The scene is viewed from front-left, at table height."}
+{"episode_index": 0, "tasks": ["Go to the faucet, wait for the person standing there to walk away, then push its lever over to turn it off."], "length": 1333, "magicsim/control_steps": 2666, "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 gray plinth. There are a large gray plinth and a large faucet. The faucet is on top of the gray plinth. The scene is viewed from front-left, at table height."}

N045/sawyer_umi/dr_on/seed_6002/phaserun/000/lerobot_v21/meta/extra/episode_000000.json

@@ -4,7 +4,7 @@
  "env_id": 0,
  "task_type": "PhaseRun",
  "subsample_every": 2,
- "control_steps": 2665,
+ "control_steps": 2666,
  "language": {
   "scene": {
    "objects": [

N045/sawyer_umi/dr_on/seed_6002/phaserun/000/lerobot_v21/meta/magicsim_manifest.json

@@ -1,7 +1,7 @@
 {
     "schema_version": 1,
     "generated": {
-        "time": "2026-11-09 22:10:49"
+        "time": "2026-11-10 03:47:16"
     },
     "embodiment": {
         "robots": [

N045/sawyer_umi/dr_on/seed_6002/phaserun/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

@@ -1,3 +1,3 @@
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-oid sha256:a67987877c49cba3208b143dbb9a3a5353a26ffb2481036b0cc232038a0107a1
-size 34602305
+oid sha256:f5dee93ba277fdce0043d5fef368fcebfa3eeebf3742de8d2ca2b4782054b5bb
+size 34735081

N045/sawyer_umi/dr_on/seed_6002/phaserun/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

@@ -1,3 +1,3 @@
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-oid sha256:e676497c26b82e818cc660bc9714c679c02b5ff41c74c19016670fd70c24cd8c
-size 32700173
+oid sha256:175f3355ce82a4eb439b797269e4888aeb8afe817854758fe476bdd419cab812
+size 32910355

N045/sawyer_umi/dr_on/seed_6002/phaserun/000/run_meta.json

@@ -1,6 +1,6 @@
 {
     "run_id": "phaserun/000",
-    "created": "2026-11-09 21:59:51",
+    "created": "2026-11-10 03:37:17",
     "num_envs": 1,
     "session_id": null,
     "record_config": {

N045/sawyer_umi/dr_on/seed_6002/phaserun/000/sim_info/0/actions.npz

@@ -1,3 +1,3 @@
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-oid sha256:b799414b631f39362051e1aa02728a1e1b6095bc0dc1a34aa5b90405b5f58e06
-size 256878
+oid sha256:6bf83cf19c1691b95b052c18e925ac80947dc3ab92d074e07a24e38a8cf4a2aa
+size 257531

N045/sawyer_umi/dr_on/seed_6002/phaserun/000/sim_info/0/scene_snapshot.json

@@ -321,15 +321,15 @@
                     ],
                     "pose": {
                         "pos": [
-                            0.6891506910324097,
-                            0.32528558373451233,
+                            0.6919382214546204,
+                            0.3059675097465515,
                             0.029999999329447746
                         ],
                         "ori": [
-                            0.9943786263465881,
+                            0.9937654733657837,
                             0.0,
                             0.0,
-                            -0.10588278621435165
+                            -0.11149105429649353
                         ],
                         "scale": [
                             1.0,
@@ -468,30 +468,30 @@
                             "rotations": null,
                             "targets": {},
                             "velocity_active": false,
-                            "face": -0.24421795033180357,
+                            "face": -0.2060216249210784,
                             "rest_ready": true,
                             "pelvis_local": [
-                                2.848036746196103e-08,
-                                -0.01359268072925743,
-                                0.9293730575591326
+                                3.783810082532563e-08,
+                                -0.01358639043888868,
+                                0.9289439637213945
                             ],
                             "foot_local": {
                                 "Left": [
-                                    0.08231950661555572,
-                                    0.04412713244488893,
-                                    0.06943346001207829
+                                    0.08834961803141556,
+                                    0.05052637686208331,
+                                    0.06970281340181828
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                                 "Right": [
-                                    -0.12739619107122513,
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+                                    -0.12173179385523059,
+                                    0.039719693013666374,
+                                    0.071255037561059
                                 ]
                             },
                             "chest_rest": [
-                                0.7831368915895209,
-                                0.6216670800439106,
-                                0.010313189611687937,
-                                -0.010974947708535049
+                                0.7835372892948428,
+                                0.6211785284896925,
+                                -0.011706290768263891,
+                                -0.008359268805419609
                             ]
                         }
                     }

N045/sawyer_umi/dr_on/seed_6002/phaserun/000/sim_info/0/sim_states.npz

@@ -1,3 +1,3 @@
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-size 3823694
+oid sha256:5977024a7393d3a62b66267c2db32f854caed7a656aeb045c31ba213ad600d65
+size 3819094

N045/sawyer_umi/dr_on/seed_6002/phaserun/000/sim_info/magicsim_manifest.json

@@ -1,7 +1,7 @@
 {
     "schema_version": 1,
     "generated": {
-        "time": "2026-11-09 22:11:07"
+        "time": "2026-11-10 03:47:34"
     },
     "embodiment": {
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N045/sawyer_umi/dr_on/seed_6002/report.json

@@ -1528,463 +1528,463 @@
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@@ -3186,112 +3186,112 @@
           "what": "enter"
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           "stage": "wait_clear",
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           "stage": "nav_op",
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           "stage": "nav_op",
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           "stage": "nav_op_stop",
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           "stage": "mark_first",
           "what": "exit"
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           "stage": "close_gripper",
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@@ -3312,14 +3312,14 @@
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-      "control_steps": 2815,
-      "wall_s": 461.0,
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+      "control_steps": 2816,
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@@ -3341,16 +3341,16 @@
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@@ -3360,8 +3360,8 @@
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-        "zone_clear_confirmed": 28.5
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       "cue_visibility": "avatar visible in the operating zone from the wait zone (public, no hidden ready flag)",
       "ready_state": "operating zone clear (avatar left, held 1.5 s)",
@@ -3372,108 +3372,108 @@
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@@ -3481,83 +3481,83 @@
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@@ -4349,8 +4349,8 @@
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@@ -4358,8 +4358,8 @@
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@@ -4367,8 +4367,8 @@
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@@ -4376,7 +4376,7 @@
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@@ -4385,8 +4385,8 @@
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@@ -4394,7 +4394,7 @@
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@@ -4403,8 +4403,8 @@
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@@ -4412,7 +4412,7 @@
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@@ -4421,8 +4421,8 @@
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@@ -4430,7 +4430,7 @@
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@@ -4439,8 +4439,8 @@
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@@ -4448,8 +4448,8 @@
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@@ -4457,7 +4457,7 @@
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@@ -4493,7 +4493,7 @@
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@@ -4520,35 +4520,35 @@
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@@ -4556,8 +4556,8 @@
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@@ -4566,8 +4566,8 @@
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@@ -4575,17 +4575,17 @@
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@@ -4593,8 +4593,8 @@
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@@ -4728,49 +4728,49 @@
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@@ -4883,12 +4883,12 @@
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