add N045/go2_arm/dr_off/seed_5003

N045/go2_arm/dr_off/seed_5003/check.json

@@ -27,27 +27,27 @@
   },
   "rows = recorded control steps / 2 (= episode length at 25 Hz)": {
    "pass": true,
-   "detail": "1016 rows vs ceil(2032/2) = 1016"
+   "detail": "1015 rows vs ceil(2029/2) = 1015"
   },
   "rows are every 2nd control step (sim_step_idx)": {
    "pass": true,
-   "detail": "sim_step_idx 151..2181, step differences [2]"
+   "detail": "sim_step_idx 151..2179, step differences [2]"
   },
   "video observation.images.head decodes, 640x480, not black": {
    "pass": true,
-   "detail": "10.05 MB, 1016 frames at 25 fps, mean luma 119..150, std 20, new picture 1015x = 25.0 per s"
+   "detail": "10.19 MB, 1015 frames at 25 fps, mean luma 118..150, std 20, new picture 1014x = 25.0 per s"
   },
   "video observation.images.head frames = parquet rows": {
    "pass": true,
-   "detail": "1016 vs 1016"
+   "detail": "1015 vs 1015"
   },
   "video observation.images.wrist decodes, 640x480, not black": {
    "pass": true,
-   "detail": "19.78 MB, 1016 frames at 25 fps, mean luma 100..150, std 30, new picture 1015x = 25.0 per s"
+   "detail": "19.61 MB, 1015 frames at 25 fps, mean luma 100..150, std 30, new picture 1014x = 25.0 per s"
   },
   "video observation.images.wrist frames = parquet rows": {
    "pass": true,
-   "detail": "1016 vs 1016"
+   "detail": "1015 vs 1015"
   },
   "sim_info present": {
    "pass": true,

N045/go2_arm/dr_off/seed_5003/check.txt

@@ -1,21 +1,21 @@
 collect dataset check  cell=/mnt/scratch/sz850_atomic/n045_go2_off_5003/out  task=N045  at verify_collect_dataset.py
-dataset root /mnt/scratch/sz850_atomic/n045_go2_off_5003/out/phaserun/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1016  videos 2  robot_type Go2PlusCfg
+dataset root /mnt/scratch/sz850_atomic/n045_go2_off_5003/out/phaserun/000/lerobot_v21  codebase v2.1  fps 25  episodes 1  frames 1015  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: 1016 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: 1015 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 1016 at dataset fps 25 = 40.64 s
-[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1016 rows vs ceil(2032/2) = 1016
-[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 151..2181, step differences [2]
-[PASS] video observation.images.head decodes, 640x480, not black: 10.05 MB, 1016 frames at 25 fps, mean luma 119..150, std 20, new picture 1015x = 25.0 per s
-[PASS] video observation.images.head frames = parquet rows: 1016 vs 1016
-[PASS] video observation.images.wrist decodes, 640x480, not black: 19.78 MB, 1016 frames at 25 fps, mean luma 100..150, std 30, new picture 1015x = 25.0 per s
-[PASS] video observation.images.wrist frames = parquet rows: 1016 vs 1016
-parquet size 3.88 MB
+rows 1015 at dataset fps 25 = 40.60 s
+[PASS] rows = recorded control steps / 2 (= episode length at 25 Hz): 1015 rows vs ceil(2029/2) = 1015
+[PASS] rows are every 2nd control step (sim_step_idx): sim_step_idx 151..2179, step differences [2]
+[PASS] video observation.images.head decodes, 640x480, not black: 10.19 MB, 1015 frames at 25 fps, mean luma 118..150, std 20, new picture 1014x = 25.0 per s
+[PASS] video observation.images.head frames = parquet rows: 1015 vs 1015
+[PASS] video observation.images.wrist decodes, 640x480, not black: 19.61 MB, 1015 frames at 25 fps, mean luma 100..150, std 30, new picture 1014x = 25.0 per s
+[PASS] video observation.images.wrist frames = parquet rows: 1015 vs 1015
+parquet size 3.86 MB
 [PASS] sim_info present: phaserun/000/sim_info
-dataset size 34.11 MB; whole cell dir 37.8 MB
+dataset size 34.05 MB; whole cell dir 37.7 MB
 RESULT: ALL PASS

N045/go2_arm/dr_off/seed_5003/phaserun/000/lerobot_v21/data/chunk-000/episode_000000.parquet

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:06a8550d3fe01fb8d636abe8e958ad676d988a091bc1bf32a3f24eb2ea648bb9
-size 3875247
+oid sha256:7564623ba8a4cef8e01cb436badc8a78b522236734420bf8be6413f3a092503c
+size 3863452

N045/go2_arm/dr_off/seed_5003/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": 1016, "magicsim/control_steps": 2032, "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": 1015, "magicsim/control_steps": 2029, "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_off/seed_5003/phaserun/000/lerobot_v21/meta/extra/episode_000000.json

@@ -4,7 +4,7 @@
  "env_id": 0,
  "task_type": "PhaseRun",
  "subsample_every": 2,
- "control_steps": 2032,
+ "control_steps": 2029,
  "language": {
   "scene": {
    "objects": [

N045/go2_arm/dr_off/seed_5003/phaserun/000/lerobot_v21/meta/info.json

@@ -2,7 +2,7 @@
     "codebase_version": "v2.1",
     "robot_type": "Go2PlusCfg",
     "total_episodes": 1,
-    "total_frames": 1016,
+    "total_frames": 1015,
     "total_tasks": 1,
     "total_videos": 2,
     "total_chunks": 1,

N045/go2_arm/dr_off/seed_5003/phaserun/000/lerobot_v21/meta/magicsim_manifest.json

@@ -1,7 +1,7 @@
 {
     "schema_version": 1,
     "generated": {
-        "time": "2026-11-09 21:57:01"
+        "time": "2026-11-10 03:59:49"
     },
     "embodiment": {
         "robots": [

N045/go2_arm/dr_off/seed_5003/phaserun/000/lerobot_v21/videos/chunk-000/observation.images.head/episode_000000.mp4

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:59f1424fb7489721d384879f5c5dfe6a7f1cc9f58e2d1b52214068850ef4faf8
-size 10052634
+oid sha256:e3bac62bac602bce55d008d1cc4c288245d11cbb77f486608353ebefa5092908
+size 10185627

N045/go2_arm/dr_off/seed_5003/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:cfa002b13f22bd31489974c2f9b7619cfa1068acdc632eb66b80a7c454bae6c2
-size 19781943
+oid sha256:243c4c4b288afc70475ebf2fb3ef65397e1925a2cb4c42fb702d61db3d9a78ac
+size 19607850

N045/go2_arm/dr_off/seed_5003/phaserun/000/run_meta.json

@@ -1,6 +1,6 @@
 {
     "run_id": "phaserun/000",
-    "created": "2026-11-09 21:48:56",
+    "created": "2026-11-10 03:48:22",
     "num_envs": 1,
     "session_id": null,
     "record_config": {

N045/go2_arm/dr_off/seed_5003/phaserun/000/sim_info/0/actions.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:54bdd07dbeef33b1ba8d14631d076c2360ae178a12bf861b4e4d7b61db515443
-size 362888
+oid sha256:18e9dff1f417eeb67332a799269e4711640872c8b20bd03e6f5efe068e610824
+size 362336

N045/go2_arm/dr_off/seed_5003/phaserun/000/sim_info/0/scene_snapshot.json

@@ -335,15 +335,15 @@
                     ],
                     "pose": {
                         "pos": [
-                            0.6920909881591797,
-                            0.30505770444869995,
+                            0.6943649649620056,
+                            0.32120180130004883,
                             0.029999999329447746
                         ],
                         "ori": [
-                            0.99410480260849,
+                            0.992920994758606,
                             0.0,
                             0.0,
-                            -0.10842356085777283
+                            -0.11877692490816116
                         ],
                         "scale": [
                             1.0,
@@ -482,30 +482,30 @@
                             "rotations": null,
                             "targets": {},
                             "velocity_active": false,
-                            "face": -0.2052744978444933,
+                            "face": -0.20751009883958113,
                             "rest_ready": true,
                             "pelvis_local": [
-                                -3.653525391424106e-08,
-                                -0.013586628588440598,
-                                0.9289580900222063
+                                3.6183572386157964e-08,
+                                -0.013587772386160482,
+                                0.9290368873625994
                             ],
                             "foot_local": {
                                 "Left": [
-                                    0.08869818925272449,
-                                    0.050071475904640964,
-                                    0.06967865861952305
+                                    0.08381332233341798,
+                                    0.056493744193617024,
+                                    0.07021530903875828
                                 ],
                                 "Right": [
-                                    -0.12139321494816854,
-                                    0.03942621435437005,
-                                    0.07123547233641148
+                                    -0.12643075287403263,
+                                    0.04543051360515844,
+                                    0.07199479825794697
                                 ]
                             },
                             "chest_rest": [
-                                0.7837634821023117,
-                                0.6208955176351445,
-                                -0.011597287001783821,
-                                -0.008317998296682616
+                                0.7778689162928009,
+                                0.6283226258878245,
+                                -0.008338452180140149,
+                                -0.0078072886855065915
                             ]
                         }
                     }

N045/go2_arm/dr_off/seed_5003/phaserun/000/sim_info/0/sim_states.npz

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:c60899931ec1764e37b243b9b95a8a1a9ec01a91512711cdef5fdba6f3d6d7c9
-size 3118215
+oid sha256:dcbace74e533ad13add5c1cef2c7ed77b47b0937e5c66e194668aa2a927bd4e7
+size 3112201

N045/go2_arm/dr_off/seed_5003/phaserun/000/sim_info/magicsim_manifest.json

@@ -1,7 +1,7 @@
 {
     "schema_version": 1,
     "generated": {
-        "time": "2026-11-09 21:57:14"
+        "time": "2026-11-10 04:00:09"
     },
     "embodiment": {
         "robots": [