add N045/go2_arm/dr_on/seed_6006

N045/go2_arm/dr_on/seed_6006/check.json

@@ -27,27 +27,27 @@
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,
-   "detail": "1050 rows vs ceil(2100/2) = 1050"
+   "detail": "1034 rows vs ceil(2068/2) = 1034"
   },
   "rows are every 2nd control step (sim_step_idx)": {
    "pass": true,
-   "detail": "sim_step_idx 151..2249, step differences [2]"
+   "detail": "sim_step_idx 151..2217, step differences [2]"
   },
   "video observation.images.head decodes, 640x480, not black": {
    "pass": true,
-   "detail": "17.25 MB, 1050 frames at 25 fps, mean luma 59..93, std 44, new picture 1049x = 25.0 per s"
+   "detail": "17.10 MB, 1034 frames at 25 fps, mean luma 59..92, std 44, new picture 1033x = 25.0 per s"
   },
   "video observation.images.head frames = parquet rows": {
    "pass": true,
-   "detail": "1050 vs 1050"
+   "detail": "1034 vs 1034"
   },
   "video observation.images.wrist decodes, 640x480, not black": {
    "pass": true,
-   "detail": "17.10 MB, 1050 frames at 25 fps, mean luma 14..102, std 38, new picture 1049x = 25.0 per s"
+   "detail": "16.95 MB, 1034 frames at 25 fps, mean luma 14..96, std 38, new picture 1033x = 25.0 per s"
   },
   "video observation.images.wrist frames = parquet rows": {
    "pass": true,
-   "detail": "1050 vs 1050"
+   "detail": "1034 vs 1034"
   },
   "sim_info present": {
    "pass": true,

N045/go2_arm/dr_on/seed_6006/check.txt

@@ -1,21 +1,21 @@
 collect dataset check  cell=/mnt/scratch/sz850_atomic/n045_go2_on_6006/out  task=N045  at verify_collect_dataset.py
-dataset root /mnt/scratch/sz850_atomic/n045_go2_on_6006/out/phaserun/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1050  videos 2  robot_type Go2PlusCfg
+dataset root /mnt/scratch/sz850_atomic/n045_go2_on_6006/out/phaserun/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1034  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: 1050 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: 1034 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 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 1050 at dataset fps 25 = 42.00 s
-[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1050 rows vs ceil(2100/2) = 1050
-[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 151..2249, step differences [2]
-[PASS] video observation.images.head decodes, 640x480, not black: 17.25 MB, 1050 frames at 25 fps, mean luma 59..93, std 44, new picture 1049x = 25.0 per s
-[PASS] video observation.images.head frames = parquet rows: 1050 vs 1050
-[PASS] video observation.images.wrist decodes, 640x480, not black: 17.10 MB, 1050 frames at 25 fps, mean luma 14..102, std 38, new picture 1049x = 25.0 per s
-[PASS] video observation.images.wrist frames = parquet rows: 1050 vs 1050
-parquet size 3.99 MB
+rows 1034 at dataset fps 25 = 41.36 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1034 rows vs ceil(2068/2) = 1034
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 151..2217, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 17.10 MB, 1034 frames at 25 fps, mean luma 59..92, std 44, new picture 1033x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1034 vs 1034
+[PASS] video observation.images.wrist decodes, 640x480, not black: 16.95 MB, 1034 frames at 25 fps, mean luma 14..96, std 38, new picture 1033x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1034 vs 1034
+parquet size 3.95 MB
 [PASS] sim_info present: phaserun/000/sim_info
-dataset size 38.75 MB; whole cell dir 42.5 MB
+dataset size 38.41 MB; whole cell dir 42.2 MB
 RESULT: ALL PASS

N045/go2_arm/dr_on/seed_6006/phaserun/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -1,3 +1,3 @@
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-oid sha256:8eb3ab3ea48c86460facb70c059baf1fd60878d8b1dc39b467353a2b75539f07
-size 3994363
+oid sha256:59aa5351ead6c095c23e5ba32a1b725cfda15f93081a431822a43298b076c3b7
+size 3954560

N045/go2_arm/dr_on/seed_6006/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": 1050, "magicsim/control_steps": 2100, "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 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": 1034, "magicsim/control_steps": 2068, "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 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/go2_arm/dr_on/seed_6006/phaserun/000/lerobot_v21/meta/extra/episode_000000.json

@@ -4,7 +4,7 @@
  "env_id": 0,
  "task_type": "PhaseRun",
  "subsample_every": 2,
- "control_steps": 2100,
+ "control_steps": 2068,
  "language": {
   "scene": {
    "objects": [

N045/go2_arm/dr_on/seed_6006/phaserun/000/lerobot_v21/meta/info.json

@@ -2,7 +2,7 @@
     "codebase_version": "v2.1",
     "robot_type": "Go2PlusCfg",
     "total_episodes": 1,
-    "total_frames": 1050,
+    "total_frames": 1034,
     "total_tasks": 1,
     "total_videos": 2,
     "total_chunks": 1,

N045/go2_arm/dr_on/seed_6006/phaserun/000/lerobot_v21/meta/magicsim_manifest.json

@@ -1,7 +1,7 @@
 {
     "schema_version": 1,
     "generated": {
-        "time": "2026-11-09 23:41:30"
+        "time": "2026-11-10 05:02:25"
     },
     "embodiment": {
         "robots": [

N045/go2_arm/dr_on/seed_6006/phaserun/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

@@ -1,3 +1,3 @@
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-oid sha256:1c23096e5a7ebb3ae9604021f1b186bf79164b092a9295a5398d87cc45a53e29
-size 17249597
+oid sha256:e04eaf57f1acd02ae0d745d954eecb3b12c2c41ff02ddc890a4eccfcd66b8ece
+size 17101733

N045/go2_arm/dr_on/seed_6006/phaserun/000/lerobot_v21/videos/chunk-000/observation.images.wrist/episode_000000.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:3afd0c4ce225aa2e52c38f8903d7488a11fe37f98407e03effa69b941e4e9342
-size 17100257
+oid sha256:fbc0387eb8f0200bb8b6bf91bcaf0f8e6a43bccbb6f103c54ba4aaaa57aa7022
+size 16950292

N045/go2_arm/dr_on/seed_6006/phaserun/000/run_meta.json

@@ -1,6 +1,6 @@
 {
     "run_id": "phaserun/000",
-    "created": "2026-11-09 23:17:38",
+    "created": "2026-11-10 04:51:03",
     "num_envs": 1,
     "session_id": null,
     "record_config": {

N045/go2_arm/dr_on/seed_6006/phaserun/000/sim_info/0/actions.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:361f5ae77d5d0c4b60123e95644f4fefc4701fe1104c4ef781141543e2d29358
-size 368520
+oid sha256:9bd2b91cdd7bcdee8d95502c013b584fbafb60b7477fa119ef45bdc1a51fb89c
+size 370737

N045/go2_arm/dr_on/seed_6006/phaserun/000/sim_info/0/scene_snapshot.json

@@ -335,15 +335,15 @@
                     ],
                     "pose": {
                         "pos": [
-                            0.7203055620193481,
-                            0.41064977645874023,
+                            0.7253226041793823,
+                            0.4163050949573517,
                             0.029999999329447746
                         ],
                         "ori": [
-                            0.980307400226593,
+                            0.978268563747406,
                             0.0,
                             0.0,
-                            -0.1974780261516571
+                            -0.20734216272830963
                         ],
                         "scale": [
                             1.0,
@@ -482,30 +482,30 @@
                             "rotations": null,
                             "targets": {},
                             "velocity_active": false,
-                            "face": -0.39904952897129164,
+                            "face": -0.40139543786299525,
                             "rest_ready": true,
                             "pelvis_local": [
-                                -1.097742440610977e-08,
-                                -0.013583870486843123,
-                                0.9287728387862444
+                                2.915969513767047e-08,
+                                -0.0135877251493179,
+                                0.9290363509207964
                             ],
                             "foot_local": {
                                 "Left": [
-                                    0.09541072557976271,
-                                    0.03665790593166163,
-                                    0.068440156057477
+                                    0.08317572783150849,
+                                    0.057686693578813106,
+                                    0.07026178576052189
                                 ],
                                 "Right": [
-                                    -0.11475524922783209,
-                                    0.02598530898160318,
-                                    0.0701154638081789
+                                    -0.12706220555837314,
+                                    0.04672065098248541,
+                                    0.07215321995317936
                                 ]
                             },
                             "chest_rest": [
-                                0.7862347139946693,
-                                0.6177210959822826,
-                                -0.006100043072868905,
-                                -0.014786955910023658
+                                0.7772292034203301,
+                                0.6291091876117638,
+                                -0.008245685308249776,
+                                -0.008306438678704814
                             ]
                         }
                     }

N045/go2_arm/dr_on/seed_6006/phaserun/000/sim_info/0/sim_states.npz

@@ -1,3 +1,3 @@
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-oid sha256:cd618a179222b675228d3d8cb9b3d8487704886417305967337f3d2f4a163ecf
-size 3224398
+oid sha256:1438714eb8e5553f881c15f4c107a1bb0ad6479705dc5b773b44f61b2702f5b9
+size 3171653

N045/go2_arm/dr_on/seed_6006/phaserun/000/sim_info/magicsim_manifest.json

@@ -1,7 +1,7 @@
 {
     "schema_version": 1,
     "generated": {
-        "time": "2026-11-09 23:41:52"
+        "time": "2026-11-10 05:02:43"
     },
     "embodiment": {
         "robots": [