ok!
BW=10^3 Kbps
Tt=1ms
i.e., 1Kb (or 1 packet) is put on link in 1 ms
So, by the time 1st packet reaches R1, the IInd packet will already have been put on the 1st link.
(Please note Router processing time has been ignored here )
In other words, all the subsequent packets will be 1ms behind each other on the path
that's why after 6 second of packet 1's journey, it's +1ms+1ms ... till 999 ms
Hope it helped :)