# OakInk baseline_3 v4 collection — last update 2026-05-26 22:44:25 PDT

- git: d624364
- collector: sim/run_grasp_sim_baseline3_v4.py
- per-obj wrapper:   scripts/baseline_3_v4/oakink_chunked_with_retry.sh (chunk-5, retry)
- orchestrator:      scripts/baseline_3_v4/oakink_full89_queue_resume.sh (resume-aware, 3-parallel)
- input dir:  Baseline1/data/episodes_oakink_v3_full74_pinch-middle_cam0_2026-05-26  (698 source ep, cam=0 + subj=0/1)
- yaw config: 3 yaws/source (orig + 90 + 180 + 270 = 4 attempts/ep)
- object mass: 0.05 kg (hardcoded in collector)
- objects (74): see Baseline1/oakink/class_id_map.json (use=true)
- results log: /tmp/oakink_full74_results_2026-05-27.txt

File naming inside OUT:
  oakink__<obj_id>_<sub>__<ts>__<subj>__<cam>.hdf5          original yaw
  oakink__<obj_id>_<sub>__<ts>__<subj>__<cam>_yaw{90,180,270}.hdf5  augmented