add N004/stretch3/dr_off/seed_5006

N004/stretch3/dr_off/seed_5006/check.json

@@ -27,27 +27,27 @@
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,
-   "detail": "1371 rows vs ceil(2741/2) = 1371"
+   "detail": "1368 rows vs ceil(2736/2) = 1368"
   },
   "rows are every 2nd control step (sim_step_idx)": {
    "pass": true,
-   "detail": "sim_step_idx 81..2821, step differences [2]"
+   "detail": "sim_step_idx 81..2815, step differences [2]"
   },
   "video observation.images.head decodes, 640x480, not black": {
    "pass": true,
-   "detail": "11.57 MB, 1371 frames at 25 fps, mean luma 115..157, std 14, new picture 1370x = 25.0 per s"
+   "detail": "11.55 MB, 1368 frames at 25 fps, mean luma 115..157, std 14, new picture 1367x = 25.0 per s"
   },
   "video observation.images.head frames = parquet rows": {
    "pass": true,
-   "detail": "1371 vs 1371"
+   "detail": "1368 vs 1368"
   },
   "video observation.images.wrist decodes, 640x480, not black": {
    "pass": true,
-   "detail": "29.12 MB, 1371 frames at 25 fps, mean luma 124..193, std 32, new picture 1370x = 25.0 per s"
+   "detail": "29.04 MB, 1368 frames at 25 fps, mean luma 124..193, std 32, new picture 1367x = 25.0 per s"
   },
   "video observation.images.wrist frames = parquet rows": {
    "pass": true,
-   "detail": "1371 vs 1371"
+   "detail": "1368 vs 1368"
   },
   "sim_info present": {
    "pass": true,

N004/stretch3/dr_off/seed_5006/check.txt

@@ -1,21 +1,21 @@
 collect dataset check  cell=/mnt/scratch/sz850_atomic/n004_str_off_5006/out  task=N004  at verify_collect_dataset.py
-dataset root /mnt/scratch/sz850_atomic/n004_str_off_5006/out/coinchain/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1371  videos 2  robot_type HelloRobotCfg
+dataset root /mnt/scratch/sz850_atomic/n004_str_off_5006/out/coinchain/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1368  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: 1371 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: 1368 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 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 1371 at dataset fps 25 = 54.84 s
-[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1371 rows vs ceil(2741/2) = 1371
-[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 81..2821, step differences [2]
-[PASS] video observation.images.head decodes, 640x480, not black: 11.57 MB, 1371 frames at 25 fps, mean luma 115..157, std 14, new picture 1370x = 25.0 per s
-[PASS] video observation.images.head frames = parquet rows: 1371 vs 1371
-[PASS] video observation.images.wrist decodes, 640x480, not black: 29.12 MB, 1371 frames at 25 fps, mean luma 124..193, std 32, new picture 1370x = 25.0 per s
-[PASS] video observation.images.wrist frames = parquet rows: 1371 vs 1371
-parquet size 2.84 MB
+rows 1368 at dataset fps 25 = 54.72 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1368 rows vs ceil(2736/2) = 1368
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 81..2815, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 11.55 MB, 1368 frames at 25 fps, mean luma 115..157, std 14, new picture 1367x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1368 vs 1368
+[PASS] video observation.images.wrist decodes, 640x480, not black: 29.04 MB, 1368 frames at 25 fps, mean luma 124..193, std 32, new picture 1367x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1368 vs 1368
+parquet size 2.83 MB
 [PASS] sim_info present: coinchain/000/sim_info
-dataset size 43.97 MB; whole cell dir 45.3 MB
+dataset size 43.87 MB; whole cell dir 45.2 MB
 RESULT: ALL PASS

N004/stretch3/dr_off/seed_5006/coinchain/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:d42a4c445ab077d809d13ceeef6a5690a69523a97969f28f1234392da34a82a1
-size 2839274
+oid sha256:c3a55fad91d0305d1432af2b0039d3c5fd5b6a062e2a95e5baed55b4ebf37746
+size 2832606

N004/stretch3/dr_off/seed_5006/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": 1371, "magicsim/control_steps": 2741, "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 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 right of the gray bank right wall n. 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, slightly above 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": 1368, "magicsim/control_steps": 2736, "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 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 right of the gray bank right wall n. 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, slightly above table height."}

N004/stretch3/dr_off/seed_5006/coinchain/000/lerobot_v21/meta/extra/episode_000000.json

@@ -4,7 +4,7 @@
  "env_id": 0,
  "task_type": "MmbChain",
  "subsample_every": 2,
- "control_steps": 2741,
+ "control_steps": 2736,
  "language": {
   "scene": {
    "objects": [
@@ -612,20 +612,20 @@
      "material": null,
      "category": "rigid",
      "pos": [
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-      0.30717887084667955
+      3.892148498852528,
+      0.03859575547513264,
+      0.3071788410444173
      ],
      "bbox": {
       "extent": [
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+       0.09441614795961528,
+       0.09441365189082268,
+       0.00924211616020063
       ],
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+       -1.1102230246251565e-16,
+       2.7755575615628914e-17,
+       -8.326672684688674e-17
       ]
      }
     }

N004/stretch3/dr_off/seed_5006/coinchain/000/lerobot_v21/meta/info.json

@@ -2,7 +2,7 @@
     "codebase_version": "v2.1",
     "robot_type": "HelloRobotCfg",
     "total_episodes": 1,
-    "total_frames": 1371,
+    "total_frames": 1368,
     "total_tasks": 1,
     "total_videos": 2,
     "total_chunks": 1,

N004/stretch3/dr_off/seed_5006/coinchain/000/lerobot_v21/meta/magicsim_manifest.json

@@ -1,7 +1,7 @@
 {
     "schema_version": 1,
     "generated": {
-        "time": "2026-11-10 00:11:56"
+        "time": "2026-11-10 04:07:57"
     },
     "embodiment": {
         "robots": [

N004/stretch3/dr_off/seed_5006/coinchain/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

@@ -1,3 +1,3 @@
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-oid sha256:677bcdf8aec8e820c1acc86a055d51dcb1f97d8edacb7df8bdae14676875755d
-size 11566238
+oid sha256:a77ac435f2de2f5ce548e1e6fb1794f2ded8a5f6d5221088588df86ab41a8d02
+size 11553519

N004/stretch3/dr_off/seed_5006/coinchain/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

@@ -1,3 +1,3 @@
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-oid sha256:b795fdb1ff9e08a5206a32c634e0975290671d60cbe6dce7d1d31c276842eb6a
-size 29123309
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+size 29039161

N004/stretch3/dr_off/seed_5006/coinchain/000/run_meta.json

@@ -1,6 +1,6 @@
 {
     "run_id": "coinchain/000",
-    "created": "2026-11-10 00:00:48",
+    "created": "2026-11-10 03:56:52",
     "num_envs": 1,
     "session_id": null,
     "record_config": {

N004/stretch3/dr_off/seed_5006/coinchain/000/sim_info/0/actions.npz

@@ -1,3 +1,3 @@
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-size 517548
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+size 511594

N004/stretch3/dr_off/seed_5006/coinchain/000/sim_info/0/scene_snapshot.json

@@ -1168,15 +1168,15 @@
                             "asset": "Cylinder",
                             "pose": {
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+                                    0.8739818334579468,
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@@ -1212,14 +1212,14 @@
                             },
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@@ -1433,12 +1433,12 @@
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N004/stretch3/dr_off/seed_5006/coinchain/000/sim_info/0/sim_states.npz

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N004/stretch3/dr_off/seed_5006/report.json

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N004/stretch3/dr_off/seed_5006/reports/N004_easy_s5006_e1_1110-040752.json

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+   "station": "B",
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+ ],
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+  "coin_dropped_outside_cavity": false,
+  "coin_pos": [
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+ "mobile_success": true,
+ "full_success": true,
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+ "fail_class": null,
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+ "interstation_path_lengths": {
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+ "path_length": 7.364,
+ "max_step_per_tick": 0.006,
+ "base_jumps": 0,
+ "status": {
+  "mobile_success": true,
+  "mobile_reason": "ok",
+  "manipulation_success": true,
+  "manipulation_reason": "coin dropped through the slot, resting in the cavity",
+  "manipulation_details": {
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+   "coin_in_cavity_of": "bank_left",
+   "slot_crossings": {
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+     "tilt_deg": 5.2
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+   "coin_at_rest": true,
+   "coin_carried": true,
+   "coin_max_lift_m": 0.315
+  },
+  "avatar_ok": true,
+  "avatar_details": {
+   "avatar_target": "bank_left",
+   "avatar_observed": "bank_left",
+   "coin_in_bank": "bank_left",
+   "cue_ray_error_deg": 0.0,
+   "avatar_event_times": {
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+    "cue_raised_tick": 177,
+    "observed_tick": 1128
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+   "cue_error": null,
+   "cue_visible": true,
+   "cue_started": true,
+   "arm_pointing": true,
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+   "arm_down_deg": 57.9,
+   "arm_length_m": 0.489,
+   "wrist_to_goal_m": 0.01,
+   "angle_to_banks_deg": {
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+    "bank_right": 16.6
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+  },
+  "violations": [],
+  "full_success": true
+ },
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+ "wall_s": 551.3,
+ "banks": {
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+   "slot_w": 0.022,
+   "coin_thickness": 0.0092
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+  "bank_right": {
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+   "slot_len": 0.09,
+   "slot_w": 0.022,
+   "coin_thickness": 0.0092
+  }
+ },
+ "avatar_target": "bank_left"
+}