add N004/go2_arm/dr_off/seed_5007

N004/go2_arm/dr_off/seed_5007/check.json

@@ -27,27 +27,27 @@
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,
-   "detail": "2276 rows vs ceil(4552/2) = 2276"
+   "detail": "2377 rows vs ceil(4753/2) = 2377"
   },
   "rows are every 2nd control step (sim_step_idx)": {
    "pass": true,
-   "detail": "sim_step_idx 81..4631, step differences [2]"
+   "detail": "sim_step_idx 81..4833, step differences [2]"
   },
   "video observation.images.head decodes, 640x480, not black": {
    "pass": true,
-   "detail": "14.53 MB, 2276 frames at 25 fps, mean luma 115..160, std 25, new picture 2275x = 25.0 per s"
+   "detail": "15.16 MB, 2377 frames at 25 fps, mean luma 95..159, std 25, new picture 2376x = 25.0 per s"
   },
   "video observation.images.head frames = parquet rows": {
    "pass": true,
-   "detail": "2276 vs 2276"
+   "detail": "2377 vs 2377"
   },
   "video observation.images.wrist decodes, 640x480, not black": {
    "pass": true,
-   "detail": "44.54 MB, 2276 frames at 25 fps, mean luma 117..191, std 30, new picture 2275x = 25.0 per s"
+   "detail": "43.98 MB, 2377 frames at 25 fps, mean luma 117..191, std 30, new picture 2376x = 25.0 per s"
   },
   "video observation.images.wrist frames = parquet rows": {
    "pass": true,
-   "detail": "2276 vs 2276"
+   "detail": "2377 vs 2377"
   },
   "sim_info present": {
    "pass": true,

N004/go2_arm/dr_off/seed_5007/check.txt

@@ -1,21 +1,21 @@
 collect dataset check  cell=/mnt/scratch/sz850_atomic/n004_go2_off_5007/out  task=N004  at verify_collect_dataset.py
-dataset root /mnt/scratch/sz850_atomic/n004_go2_off_5007/out/coinchain/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 2276  videos 2  robot_type Go2PlusCfg
+dataset root /mnt/scratch/sz850_atomic/n004_go2_off_5007/out/coinchain/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 2377  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: 2276 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: 2377 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: 'Go to the holder, pick up the coin, carry it to the piggy banks, and drop it through the slot of the bank the person is pointing at.'; expected 'Go to the holder, pick up the coin, carry it to the piggy banks, and drop it through the slot of the bank the person is pointing at.'
-rows 2276 at dataset fps 25 = 91.04 s
-[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2276 rows vs ceil(4552/2) = 2276
-[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 81..4631, step differences [2]
-[PASS] video observation.images.head decodes, 640x480, not black: 14.53 MB, 2276 frames at 25 fps, mean luma 115..160, std 25, new picture 2275x = 25.0 per s
-[PASS] video observation.images.head frames = parquet rows: 2276 vs 2276
-[PASS] video observation.images.wrist decodes, 640x480, not black: 44.54 MB, 2276 frames at 25 fps, mean luma 117..191, std 30, new picture 2275x = 25.0 per s
-[PASS] video observation.images.wrist frames = parquet rows: 2276 vs 2276
-parquet size 4.34 MB
+rows 2377 at dataset fps 25 = 95.08 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 2377 rows vs ceil(4753/2) = 2377
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 81..4833, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 15.16 MB, 2377 frames at 25 fps, mean luma 95..159, std 25, new picture 2376x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 2377 vs 2377
+[PASS] video observation.images.wrist decodes, 640x480, not black: 43.98 MB, 2377 frames at 25 fps, mean luma 117..191, std 30, new picture 2376x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 2377 vs 2377
+parquet size 4.50 MB
 [PASS] sim_info present: coinchain/000/sim_info
-dataset size 63.86 MB; whole cell dir 66.3 MB
+dataset size 64.10 MB; whole cell dir 66.7 MB
 RESULT: ALL PASS

N004/go2_arm/dr_off/seed_5007/coinchain/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -1,3 +1,3 @@
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-oid sha256:ad4aa3b068fb682cccecb6a3d4ec1d640d3ee16d3555cabb6fb337a178cae691
-size 4339045
+oid sha256:572ba7b33375093825912cd421415d65d88653ad9c29f0ae074ad369306224ec
+size 4502372

N004/go2_arm/dr_off/seed_5007/coinchain/000/lerobot_v21/meta/episodes.jsonl

@@ -1 +1 @@
-{"episode_index": 0, "tasks": ["Go to the holder, pick up the coin, carry it to the piggy banks, and drop it through the slot of the bank the person is pointing at."], "length": 2276, "magicsim/control_steps": 4552, "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 red bank left wall n. There are a large gray table A, a large gray table B, a large gray holder rail l, a large gray holder rail r, a large red bank left floor, a large red bank left wall n, a large red bank left wall s, a large red bank left wall e, a large red bank left wall w, a large red bank left plate n, a large red bank left plate s, a large red bank left plate e, a large red bank left plate w, a large gray bank right floor, a large gray bank right wall n, a large gray bank right wall s, a large gray bank right wall e, a large gray bank right wall w, a large gray bank right plate n, a large gray bank right plate s, a large gray bank right plate e, a large gray bank right plate w and a small orange coin. The gray table A is in front of the gray holder rail l. The gray table B is to the right of the red bank left wall s. The red bank left floor is to the left of the red bank left wall s. The red bank left plate n is on top of the red bank left wall n. The red bank left plate s is on top of the red bank left wall s. The red bank left plate e is on top of the red bank left wall e. The red bank left plate w is on top of the red bank left wall w. The gray bank right floor is to the left of the gray bank right wall s. The gray bank right plate n is on top of the gray bank right wall n. The gray bank right plate s is on top of the gray bank right wall s. The gray bank right plate e is on top of the gray bank right wall e. The gray bank right plate w is on top of the gray bank right wall w. The scene is viewed from front-left, at table height."}
+{"episode_index": 0, "tasks": ["Go to the holder, pick up the coin, carry it to the piggy banks, and drop it through the slot of the bank the person is pointing at."], "length": 2377, "magicsim/control_steps": 4753, "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 red bank left wall n. There are a large gray table A, a large gray table B, a large gray holder rail l, a large gray holder rail r, a large red bank left floor, a large red bank left wall n, a large red bank left wall s, a large red bank left wall e, a large red bank left wall w, a large red bank left plate n, a large red bank left plate s, a large red bank left plate e, a large red bank left plate w, a large gray bank right floor, a large gray bank right wall n, a large gray bank right wall s, a large gray bank right wall e, a large gray bank right wall w, a large gray bank right plate n, a large gray bank right plate s, a large gray bank right plate e, a large gray bank right plate w and a small orange coin. The gray table A is in front of the gray holder rail l. The gray table B is to the right of the red bank left wall s. The red bank left floor is to the left of the red bank left wall s. The red bank left plate n is on top of the red bank left wall n. The red bank left plate s is on top of the red bank left wall s. The red bank left plate e is on top of the red bank left wall e. The red bank left plate w is on top of the red bank left wall w. The gray bank right floor is to the left of the gray bank right wall s. The gray bank right plate n is on top of the gray bank right wall n. The gray bank right plate s is on top of the gray bank right wall s. The gray bank right plate e is on top of the gray bank right wall e. The gray bank right plate w is on top of the gray bank right wall w. The scene is viewed from front-left, at table height."}

N004/go2_arm/dr_off/seed_5007/coinchain/000/lerobot_v21/meta/extra/episode_000000.json

@@ -4,7 +4,7 @@
  "env_id": 0,
  "task_type": "MmbChain",
  "subsample_every": 2,
- "control_steps": 4552,
+ "control_steps": 4753,
  "language": {
   "scene": {
    "objects": [
@@ -612,20 +612,20 @@
      "material": null,
      "category": "rigid",
      "pos": [
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+      3.7286657551175293,
+      1.0496570177537594,
+      -0.05017925439585513
      ],
      "bbox": {
       "extent": [
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+       0.0946213905783412,
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+       2.0816681711721685e-16,
+       0.0,
+       -2.1510571102112408e-16
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N004/go2_arm/dr_off/seed_5007/coinchain/000/lerobot_v21/meta/info.json

@@ -2,7 +2,7 @@
     "codebase_version": "v2.1",
     "robot_type": "Go2PlusCfg",
     "total_episodes": 1,
-    "total_frames": 2276,
+    "total_frames": 2377,
     "total_tasks": 1,
     "total_videos": 2,
     "total_chunks": 1,

N004/go2_arm/dr_off/seed_5007/coinchain/000/lerobot_v21/meta/magicsim_manifest.json

@@ -1,7 +1,7 @@
 {
     "schema_version": 1,
     "generated": {
-        "time": "2026-11-09 23:35:25"
+        "time": "2026-11-10 04:40:26"
     },
     "embodiment": {
         "robots": [

N004/go2_arm/dr_off/seed_5007/coinchain/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

@@ -1,3 +1,3 @@
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-size 14526839
+oid sha256:91f39a812ed306d39d650e239dbe297af5664197482b32a5270ab44f695d8ac8
+size 15160701

N004/go2_arm/dr_off/seed_5007/coinchain/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

@@ -1,3 +1,3 @@
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+size 43976984

N004/go2_arm/dr_off/seed_5007/coinchain/000/run_meta.json

@@ -1,6 +1,6 @@
 {
     "run_id": "coinchain/000",
-    "created": "2026-11-09 23:15:04",
+    "created": "2026-11-10 04:19:08",
     "num_envs": 1,
     "session_id": null,
     "record_config": {

N004/go2_arm/dr_off/seed_5007/coinchain/000/sim_info/0/actions.npz

@@ -1,3 +1,3 @@
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+size 827913

N004/go2_arm/dr_off/seed_5007/coinchain/000/sim_info/0/scene_snapshot.json

@@ -1168,15 +1168,15 @@
                             "asset": "Cylinder",
                             "pose": {
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@@ -1212,14 +1212,14 @@
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@@ -1443,15 +1443,15 @@
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+  "manipulation_success": true,
+  "manipulation_reason": "coin dropped through the slot, resting in the cavity",
+  "manipulation_details": {
+   "coin_pos": [
+    0.8994,
+    1.9515,
+    0.3772
+   ],
+   "coin_in_cavity_of": "bank_right",
+   "slot_crossings": {
+    "bank_right": {
+     "tick": 4766,
+     "tilt_deg": 2.5
+    }
+   },
+   "hand_to_coin_m": 0.159,
+   "coin_at_rest": true,
+   "coin_carried": true,
+   "coin_max_lift_m": 0.174
+  },
+  "avatar_ok": true,
+  "avatar_details": {
+   "avatar_target": "bank_right",
+   "avatar_observed": "bank_right",
+   "coin_in_bank": "bank_right",
+   "cue_ray_error_deg": 0.0,
+   "avatar_event_times": {
+    "cue_start_tick": 44,
+    "cue_raised_tick": 194,
+    "observed_tick": 2966
+   },
+   "cue_error": null,
+   "cue_visible": true,
+   "cue_started": true,
+   "arm_pointing": true,
+   "arm_ext": 0.93,
+   "arm_down_deg": 57.6,
+   "arm_length_m": 0.489,
+   "wrist_to_goal_m": 0.01,
+   "angle_to_banks_deg": {
+    "bank_left": 16.6,
+    "bank_right": 0.0
+   }
+  },
+  "violations": [],
+  "full_success": true
+ },
+ "control_ticks": 4753,
+ "wall_s": 1092.3,
+ "banks": {
+  "bank_left": {
+   "centre": [
+    0.9,
+    2.45
+   ],
+   "yaw_deg": 0.0,
+   "slot_len": 0.09,
+   "slot_w": 0.022,
+   "coin_thickness": 0.0092
+  },
+  "bank_right": {
+   "centre": [
+    0.9,
+    1.95
+   ],
+   "yaw_deg": 0.0,
+   "slot_len": 0.09,
+   "slot_w": 0.022,
+   "coin_thickness": 0.0092
+  }
+ },
+ "avatar_target": "bank_right"
+}